Setup Google Cartographer (these steps are for illustration only, you must adapt these lines to your local directory names)
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Login to Ubuntu.
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Open multiple terminals.
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Terminal 1: . ros1_start.sh roscore
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Terminal 2: . ros1_start.sh cd ~/ros_catkin_ws source ./devel/setup.bash
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Terminal 3: roslaunch sick_scan sick_mrs_1xxx_cartographer.launch cloud_topic:=horizontal_laser_3d frame_id:=horizontal_vlp16_link
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Terminal 4: roslaunch sick_scan sick_tim_5xx.launch cloud_topic:=vertical_laser_3d frame_id:=vertical_vlp16_link hostname:=192.168.0.71
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Terminal 5:
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. ros1_start.sh
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cd ~/ros_cartographer_ws
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source ./install_isolated/setup.bash
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catkin_make_isolated
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roslaunch cartographer_ros live_demo_backpack_3d.launch
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The following figure shows an example of an outdoor slam result using a MRS1104-scanner: