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cartographer-project / cartographer_ros

Provides ROS integration for Cartographer.
Apache License 2.0
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how to save map in ros-foxy #1670

Open 13125450828 opened 3 years ago

Gaurav-Kapoor-07 commented 3 years ago
  1. Source clone and build cartographer_ros ROS2 repository.
  2. Add these lines in your CMakeLists.txt file. set(ALL_SRCS "cartographer_ros/map_builder_bridge.cc" "cartographer_ros/msg_conversion.cc" "cartographer_ros/node.cc" "cartographer_ros/node_constants.cc" "cartographer_ros/node_options.cc" "cartographer_ros/ros_log_sink.cc" "cartographer_ros/sensor_bridge.cc" "cartographer_ros/tf_bridge.cc" "cartographer_ros/time_conversion.cc" "cartographer_ros/trajectory_options.cc" "cartographer_ros/submap.cc" "cartographer_ros/ros_map.cc" "cartographer_ros/ros_map_writing_points_processor.cc" )
  3. Uncomment and add this in your CMakeLists.txt file. google_binary(cartographer_pbstream_to_ros_map SRCS pbstream_to_ros_map_main.cc ) install(TARGETS cartographer_node occupancy_grid_node cartographer_pbstream_to_ros_map DESTINATION lib/${PROJECT_NAME})
  4. Build the package again and then in the workspace terminal run cartographer_pbstream_to_ros_map -pbstream_filename your_filename and press Enter. This will generate a .pgm and .yaml file.