Open nerellasureshkumar7 opened 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.
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 thecartographer_start_trajectory
node still it's not working. Can anybody tell me what am i missing?Thanks