Cartographer ROS for the Toyota HSR¶
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This repository provides Cartographer SLAM for the Toyota HSR via Cartographer ROS.
Building & Installation¶
Installation has been tested on Ubuntu 14.04 (Trusty) with ROS Indigo, but may also work on Ubuntu 16.04 (Xenial) with ROS Kinetic. We recommend using wstool and rosdep. For faster builds, we also recommend using Ninja.
# Install wstool and rosdep. sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build # Create a new workspace in 'catkin_ws'. mkdir catkin_ws cd catkin_ws wstool init src # Merge the cartographer_toyota_hsr.rosinstall file and fetch code for dependencies. wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_toyota_hsr/master/cartographer_toyota_hsr.rosinstall wstool update -t src # Install deb dependencies. rosdep update rosdep install --from-paths src --ignore-src -r --rosdistro=${ROS_DISTRO} -y # Build and install. catkin_make_isolated --install --use-ninja source install_isolated/setup.bash
Running the demo¶
Now that Cartographer and Cartographer’s Toyota HSR integration are installed,
download the example bag to a known location, in this case ~/Downloads
, and
use roslaunch
to bring up the demo:
# Download the 2D example bag. wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/toyota_hsr/cartographer_toyota_hsr_demo.bag # Launch the 2D demo. roslaunch cartographer_toyota_hsr demo_hsr_2d.launch bag_filename:=${HOME}/Downloads/cartographer_toyota_hsr_demo.bag # Download the 3D example bag. wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/toyota_hsr/cartographer_toyota_hsr_demo_3d.bag # Launch the 3D demo. roslaunch cartographer_toyota_hsr demo_hsr_3d.launch bag_filename:=${HOME}/Downloads/cartographer_toyota_hsr_demo_3d.bag
The launch files will bring up roscore
and rviz
automatically.