在分析源文件node_main.cc的时候,我们猜测其在Run函数中构建的局部对象node实际控制着整个系统的业务逻辑。 本文中,我们来研读与这个对象相关的源文件node.cc和node.h,了解cartographer_node是如何将ROS系统的消息和服务与Cartographer联系起来的。1. 构造函数下面是node对象类型cartographer_ros::Node构造函数的片段,它...
NodeOptions node_options;//NodeOptions在/cartographer_ros/cartographer_ros/cartographer/node_options.h中定义;该struct中包含了对一些基本参数的设置,比如接收tf的timeout时间设置、子图发布周期设置等 TrajectoryOptions trajectory_options;//TrajectoryOptions在/cartographer_ros/cartographer_ros/cartographer/trajectory_o...
我们之前也提到过,cartographer_ros相当于只给我们封装了一个ROS的皮,核心的任务都还是由cartographer来完成的。所以我们当前查看该节点的情况,追述到map_builder_bridge_后就都暂时停止,知道这些任务最后交给了cartographer这个包中的MapBuilder去处理就可以了。等我们研究完这个节点后再集中精力去看cartographer中的内容。
cartographer node_main部分介绍嘉然今天学编程 立即播放 打开App,流畅又高清100+个相关视频 更多569 -- 5:16 App 01-Cartographer建图功能包的环境简单配置 1864 -- 17:30 App GVINS介绍:港科大GNSS紧耦合SLAM方案 1688 -- 3:58 App 变化场景中的地图在线自更新算法效果展示 2342 -- 1:01 App 2D超高...
在文一种Node::AddTrajectory方法中调用了AddExtrapolator(trajectory_id, options); 1 std::map<int, ::cartographer::mapping::PoseExtrapolator> extrapolators_; void Node::AddExtrapolator(const int trajectory_id, const TrajectoryOptions& options) { constexpr double kExtrapolationEstimationTimeSec = 0.001;...
cartographer_node is not publishing 'map' tf frame. Fixed frame map does not exist. cartographer-project/cartographer_ros#300 cartographer-project/cartographer_ros#202 I guess it's .lua configuration , not yet looks into details. [ WARN] [1501071021.570063704]: W0726 20:10:21.000000 14280 tf_...
= nullptr) 15 { 16 node_id = ::cartographer::common::make_unique<mapping::NodeId>( 17 pose_graph_->AddNode(matching_result->insertion_result->constant_data, 18 trajectory_id_, matching_result->insertion_result->insertion_submaps)); 19 CHECK_EQ(node_id->trajectory_id, trajectory_id_);...
When the cartographer node starts with the quad on the ground, a trajectory is started and a submap is built. Since the Laser scan of the environment is different from the ground than in the air, we then end the trajectory, take off to desired altitude, and start a new trajectory. When...
Node::Node( const NodeOptions& node_options, std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder, tf2_ros::Buffer* const tf_buffer, const bool collect_metrics) : node_options_(node_options), map_builder_bridge_(node_options_, std::move(map_builder), tf_buffer) { ...
Krishnamurty, A.T., Turley, S.J. Lymph node stromal cells: cartographers of the immune system.Nat Immunol21, 369–380 (2020). https://doi.org/10.1038/s41590-020-0635-3 Download citation Received10 January 2019 Accepted17 February 2020 ...