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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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How to Extend the map #1633

Open nerellasureshkumar7 opened 4 years ago

nerellasureshkumar7 commented 4 years ago

Hi Guys, I have done the mapping using cartographer. Now i'm trying to do the mapping in a large industry, where i have to map each block at one run time and add them to the previous one.
I did the initial block mapping ,finished the trajectory and stored the pbstream file and loaded it using load_state_filename and when i started mapping the new map generation is always starting from the initial position(0 0 0) not from the previous trajectory position. I tried to give initial position using args to the cartographer_start_trajectory node still it's not working. Can anybody tell me what am i missing?

Thanks

shamengjun commented 4 years ago

I remember cartographer supply ros service for start one new trajectocry, you can try call /start_trajectocy service, this service's one key is to_trajectory_id, that is your initial pose is relative to which trajectory_id.