Hello ,
i am using Ros Noetic,on Ubuntu 20.04 LTS,
i have recorded the ros bag file which include the topics:
/tf, tracked_pose, ,imu, /map, /scan,
Now to generate the ground truth we need to have serialized state of a fully optimized trajectory file (optimized.pbstream) as per this documentation Auto generate ground truth using this command
cartographer_autogenerate_ground_truth -pose_graph_filename optimized.pbstream -output_filename relations.pbstream -min_covered_distance 100 -outlier_threshold_meters 0.15 -outlier_threshold_radians 0.02,
when i searched how to make this file , i found this Exploiting the map generated by Cartographer ROS
but i am not able to use this command to generate the .pbstream, because it needs the horizontal and verticle links connected to base link, where as in my case i use only one lidar which gives me /laser,
if you have any idea where i am going wrong please help
Hello , i am using
Ros Noetic,onUbuntu 20.04 LTS,i have recorded the ros bag file which include the topics:
/tf,tracked_pose,,imu,/map,/scan,Now to generate the ground truth we need to have serialized state of a fully optimized trajectory file (optimized.pbstream) as per this documentation Auto generate ground truth using this command
cartographer_autogenerate_ground_truth -pose_graph_filename optimized.pbstream -output_filename relations.pbstream -min_covered_distance 100 -outlier_threshold_meters 0.15 -outlier_threshold_radians 0.02,when i searched how to make this file , i found this Exploiting the map generated by Cartographer ROS but i am not able to use this command to generate the
.pbstream, because it needs the horizontal and verticle links connected to base link, where as in my case i use only one lidar which gives me/laser,if you have any idea where i am going wrong please help