how to configure to use imu and odometry in cartographer

[Jia Zheng]

I have run the google-cartographer sucessfully. But I only use the hokuyo laser. 

when I try to configure to use imu and odometry, I got an error in the following picture.

I attach the files.

demo_revo_lds.launch  is the launch which run the cartographer.

revo_lds.lua is the configure file.

demo_2d.rviz  is the rviz which run the rviz.

OdometrySource.py and Car.cpp are the files which publish the topic of imu and odometry data. 

Please have a look at the files for me, and Please tell me the faults in the files.

I run the files in the following order.

roscore

rosrun [package]  OdometrySource.py

rosrun [package]  Car

roslaunch  cartographer_ros demo_revo_lds.launch

////////////////////////////////////////////////////////////////////////////

Thank you very much. 

[Damon Kohler]

There seem to be quite some issues with your setup. Here's the first few I came across:

- You enable simtime in your launch file. You also launch the Hokuyo driver. That doesn't make sense since simtime should only be enabled when reading from a bag.

- Your Odometry node is actually publishing IMU data, not odometry. You configuration disables the IMU and enables odometry.

The issues seem to have little to do with Cartographer and may be better addressed by asking your questions on the ROS answers forum: http://answers.ros.org/

I suggest trying to simplify your configuration and add just IMU or just odometry. Once that's working, try extending it to include the other source of data. You should also spend some time investigating the debugging tools available for use in ROS (e.g. rostopic, roswtf, etc.).

Hope that helps!

Damon

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[Jia Zheng]

Hello Damon Kohler,

    Thank you for your reply.

I look through the cartographer_turtlebot package.

I modified the files in the cartographer_turtlebot and adapt my robot.

Car.cpp  is the file which publish the odometry data.

ImuNodeSource.py is the file which publish the imu data.

demo_lidar_2d.launch,turtlebot_urg_lidar_2d.lua,demo_turtlebot.rviz is the files in the cartographer_turtlebot and I modified them.

I run the cartographer in the following command.

roscore

rosrun hokuyo_node hokuyo_node

rosrun [package] car

roslaunch cartographer_turtlebot demo_lidar_2d.launch

After I run thess command, I got the following picture in the rviz.

Could you help me please? Look through the files I attached and tell me where is wrong. How should I modified them?

在 2016年10月24日星期一 UTC+8下午4:32:04，Damon Kohler写道：

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[Holger Rapp]

​Jia,

it sounds like your problem has nothing to do with Cartographer so far. You seem to have your frame names wrong. It is really hard to tell you what is actually wrong in your setup with the data you provided so far. I suggest that you put a fork of the example repository you started from on github, including some sample data and a launch file that plays it - so that there is understandable what you modified. 

I still think that your issues is not related to Cartographer - and you should probably ask at http://answers.ros.org/, but they will require a standalone repository as reproduction case as well.

Cheers,

Holger

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