feat(slam): add cartographer_ros

2025-07-04 14:39:48 +08:00
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+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+======================================
+Running Cartographer ROS on a demo bag
+======================================
+
+Now that Cartographer and Cartographer's ROS integration are installed, you can
+download example bags (e.g. 2D and 3D backpack collections of the
+`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_) to a
+known location, in this case ``~/Downloads``, and use ``roslaunch`` to bring up
+the demo.
+
+The launch files will bring up ``roscore`` and ``rviz`` automatically.
+
+.. warning:: When you want to run cartographer_ros, you might need to source your ROS environment by running ``source install_isolated/setup.bash`` first (replace bash with zsh if your shell is zsh)
+
+Deutsches Museum
+================
+
+Download and launch the 2D backpack demo:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
+    roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
+
+Download and launch the 3D backpack demo:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
+    roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
+
+Pure localization
+=================
+
+Pure localization uses 2 different bags. The first one is used to generate the map, the second to run pure localization.
+
+Download the 2D bags from the Deutsche Museum:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag
+
+Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
+
+.. code-block:: bash
+
+    roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag
+    roslaunch cartographer_ros demo_backpack_2d_localization.launch \
+       load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
+       bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag
+
+Download the 3D bags from the Deutsche Museum:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-52-20.bag
+
+Generate the map (wait until cartographer_offline_node finishes) and then run pure localization:
+
+.. code-block:: bash
+
+    roslaunch cartographer_ros offline_backpack_3d.launch bag_filenames:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag
+    roslaunch cartographer_ros demo_backpack_3d_localization.launch \
+       load_state_filename:=${HOME}/Downloads/b3-2016-04-05-13-54-42.bag.pbstream \
+       bag_filename:=${HOME}/Downloads/b3-2016-04-05-15-52-20.bag
+
+Static landmarks
+================
+
+  .. raw:: html
+
+      <iframe width="560" height="315" src="https://www.youtube.com/embed/E2-OD-ycivc" frameborder="0" allowfullscreen></iframe>
+
+  .. code-block:: bash
+
+    # Download the landmarks example bag.
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag
+
+    # Launch the landmarks demo.
+    roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filename:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
+
+Revo LDS
+========
+
+Download and launch an example bag captured from a low-cost Revo Laser Distance Sensor from Neato Robotics vacuum cleaners:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
+    roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
+
+PR2
+===
+
+Download and launch an example bag captured from a PR2 R&D humanoid robot from Willow Garage:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
+    roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
+
+Taurob Tracker
+==============
+
+Download and launch an example bag captured from a Taurob Tracker teleoperation robot:
+
+.. code-block:: bash
+
+    wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
+    roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag