raspimouse_cartographer

Configuration files for using cartographer with Raspberry Pi Mouse.

how to use

needed equipment on Raspberry Pi Mouse

• a 2D lidar
  • URG-04LX-UG01
• IMU
  • RT-USB-9AXIS-00

install

Please run followings both on the robot and your PC.

$ cd catkin_ws/src/    #the src directory of your catkin workspace
$ git clone https://github.com/ryuichiueda/raspimouse_ros_2.git
$ rosdep install raspimouse_ros_2
$ git clone https://github.com/AtsushiSaito/rt_usb_9axis_sensor.git 
$ git clone https://github.com/ryuichiueda/raspimouse_cartographer.git
$ rosdep install --ignore-src raspimouse_ros_2 raspimouse_cartographer
$ cd ~/catkin_ws/
$ catkin_make

launch

Please edit /etc/hosts and host information on launch/slam.launch appropriately. Then,

$ roslaunch raspimouse_cartographer slam.launch

after finishing SLAM

Please push the front button. When the left side LED goes dark, the following files are saved:

• a map with the pgm format,
• some trajectory record files with the tsv format, and
• a bag file with the protocol buffer format.

After that, all of the nodes halt.

acknowledgements

Cartographer is licensed under the Apache 2.0 license.