serraramiro1
commented
1 year ago @serraramiro1 I presume you know Cartographer ROS allows processing a bagfile sequentially.
Why go for the asynchronous way?
This is still sync, note the node's name: sync_slam_toolbox_node. They claim it doesn't discard any sensor data, thus being appropriate for this use case.
Quoting:
This package has been benchmarked mapping building at 5x+ realtime up to about 30,000 sqft and 3x realtime up to about 60,000 sqft. with the largest area (I'm aware of) used was a 200,000 sq.ft. building in synchronous mode (e.i. processing all scans, regardless of lag), and much larger spaces in asynchronous mode.
On the cartographer script: I knew it existed, but I stayed away from it for two reasons:
- It doesn't exactly produce a ROS map, but a pose graph that we'd have to process afterwards. (Not a big deal)
- We would be using the most widely adopted stack (thus, the one that we want to benchmark against the most) to produce the maps, which would introduce a small bias when localizing on said map with the same stack (localization is the same SLAM problem but with different parameters). This one is plainly a personal take, let me know your thoughts. @hidmic.
Proposed changes
Adds a new package capable of generating a map out of a .bag file with laser scans, static transforms and odometry messages. Closes #52.
Type of change
💥 Breaking change! Explain why a non-backwards compatible change is necessary or remove this line entirely if not applicable.
Checklist
Put an
xin the boxes that apply. This is simply a reminder of what we will require before merging your code.Additional comments
Anything worth mentioning to the reviewers.