上一节我们介绍了在linux中快速安装集成ros环境的cartographer。

本节我们会来跑一些官方demo，用于测试cartographer是否正确安装，顺便看看cartographer的建图与定位效果。

这里建议如果和作者一样用的是VMware虚拟机，最好给系统分配4G以上的内存。

官方用例

https://google-cartographer-ros.readthedocs.io/en/latest/demos.html​​​​​​​

---

目录

1：德国博物馆

2：纯定位

3：静态地标

4：Revo LDS

5：PR2

6：Taurob Tracker

---

1：德国博物馆

通过雷达LaserScan和陀螺仪IMU建图的案例

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

过程：

结果：

---

2：纯定位

纯定位使用 2 个不同的包。第一个用于建图，第二个用于定位。

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

建图：

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag

定位：

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

过程：

---

3：静态地标

此案例在建图过程中加入了landmark数据作为辅助。

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag
roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filenames:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag
过程

过程：

结果：

---

4：Revo LDS

从 Neato Robotics 真空吸尘器的低成本 Revo 激光距离传感器采集的Ros包，纯雷达建图。

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

过程：

结果：

---

5：PR2

从 Willow Garage 的 PR2 研发机器人采集的Ros包。(这个包有3.7个G，不是必要的话可以不跑该示例)

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

过程：

结果：

---

6：Taurob Tracker

从 Taurob Tracker 远程操作机器人采集的Ros包

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

过程：

结果：

【完】

---

下一节我们将介绍在ros系统中，根据自己的需求发布和订阅传感器消息，给cartographer算法使用。