ros2 pkg list | grep cartographer 能看到下面的结果即可 cartographer_ros cartographer_ros_msgs 可能你会好奇为什么没有cartographer,因为cartographer包的编译类型原因造成的,不过没关系,cartographer_ros依赖于cartographer,所以有cartographer_ros一定有cartographer。 3.Cartographer参数配置 作为一个优秀的开源库,Cartograph...
(1)精简后的包(ros2cart)与已有的包(cartographer_ros)不冲突(即两者可以并存),这有利于交叉验证,确保后续对算法的优化朝正确的方向发展。 (2)精简后的包(ros2cart)与已有的包(cartographer_ros)的除包名不同外,再者就是核心库名不同(前者为libros2cart.a后者为libcartographer_ros),尽管可以用相同的库名,...
cartographer_ros_msgs 1. 2. 可能你会好奇为什么没有cartographer,因为cartographer包的编译类型原因造成的,不过没关系,cartographer_ros依赖于cartographer,所以有cartographer_ros一定有cartographer。 3.Cartographer参数配置 作为一个优秀的开源库,Cartographer提供了很多可以配置的参数,虽然灵活性提高了,但同时也提高了使用...
1 ros2 interface show cartographer_ros_msgs/srv/FinishTrajectory.srv 2. 序列化保存其当前状态 1 ros2 service call/write_statecartographer_ros_msgs/srv/WriteState"{filename: '/home/develop/bags/mymap.pbstream'}" 3. 将pbstream转换为pgm和yaml 在cartographer_pbstream_to_ros_map文件目录下执行: 1 ...
你可以通过列出已安装的ROS2包来验证Cartographer是否已成功安装。 bash ros2 pkg list | grep cartographer 如果安装成功,你应该能看到cartographer_ros和cartographer_ros_msgs等包被列出。 附加:运行Cartographer 一旦Cartographer安装并配置好,你可以通过编写或修改launch文件来运行Cartographer。例如,你可以使用[@1@]或...
points2 (`sensor_msgs/PointCloud2`_) imu (`sensor_msgs/Imu`_) odom (`nav_msgs/Odometry`_) Published Topics: submap_list (`cartographer_ros_msgs/SubmapList`_) Services: submap_query (`cartographer_ros_msgs/SubmapQuery`_) start_trajectory (`cartographer_ros_msgs/StartTrajectory`_) ...
cartographer_ros_msgs 2.0.9003 Apr 18, 2024 cartographer_rviz 2.0.9003 Apr 18, 2024 docs colcon ignore Mar 29, 2022 scripts Default to master in rosinstall (fixescartographer-project#1122). (c… Nov 18, 2021 .dockerignore Adds Kinetic to build matrix. (cartographer-project#222) ...
cartographer_ros 1.0.9003 4年前 cartographer_ros_msgs 1.0.9003 4年前 cartographer_rviz Apply omnibus cartographer ROS 2 port. 6年前 docs Apply omnibus cartographer ROS 2 port. 6年前 jenkins Ensure cache invalidation when building CQ pipeline (#753) ...
void SensorBridge::HandleLandmarkMessage( const std::string& sensor_id, const cartographer_ros_msgs::LandmarkList::ConstPtr& msg) { // 将在ros中自定义的LandmarkList类型的数据, 转成LandmarkData auto landmark_data = ToLandmarkData(*msg); // 获取 tracking_frame到landmark的frame 的坐标变换...
write_state (cartographer_ros_msgs/WriteState) 将当前内部状态写入磁盘到文件名。 如果设置了该文件,通常会在〜/ .ros或ROS_HOME中结束。 此文件可用作assets_writer_main的输入,以生成概率网格,X-Rays或PLY文件等资源。 get_trajectory_states (cartographer_ros_msgs/GetTrajectoryStates) ...