README.asciidoc

rabbitamr_cartographer

Contains config and launch files for mapping with the cartographer algorithm

Executable commands :

roslaunch rabbitamr_cartographer rabbitamr_carto.launch

• Used nodes:

  • cartographer_ros

cartographer_ros

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

Launch files' description :

rabbitamr_carto.launch

link:launch/rabbitamr_carto.launch[role=include]

1. defines necessary topics as arguments

2. runs cartographer_node (submaps)

3. cartographer_occupancy_grid_node extracts a map in regular pgm format

Config

In order to customize amcl a config file is needed:

• config/rabbitamr.lua

  • params link : https://google-cartographer-ros.readthedocs.io/en/latest/tuning.html