Kinect_v2 in cartographer 3D Map using turtlebot2(kobuki) , the topic of Kinect_v2 is /kinect/qhd/points, the launch file is turtlebot_depth_camera_3d.launch

cartographer-project / cartographer_turtlebot

Provides TurtleBot integration for Cartographer.

Apache License 2.0

151 stars 96 forks source link

Kinect_v2 in cartographer 3D Map using turtlebot2(kobuki) , the topic of Kinect_v2 is /kinect/qhd/points, the launch file is turtlebot_depth_camera_3d.launch #97

Closed yueshukun closed 6 years ago

yueshukun commented 6 years ago

When I use these, the scan_matched_points normal display, but no map received, that means cartographer_node do not publish the topic of map, why?

gaschler commented 6 years ago

cartographer*_node do not publish nav_msgs/OccupancyGrid.msg. Take a look occupancy_grid_node and in backpack_2/3d.launch how it is started. Or, for ROS map files (pgm+yaml), see pbstream_to_ros_map.