Cartographer for TurtleBot

[ll ll]

Hi!
I am just a beginner, and I really want to try Cartographer for TurtleBot. I want to build a map by using Cartographer and then navigate the robot from A to B in the map.
I have seen the source code on Github and have read the Docs site, but I am still not sure how it is supposed to work. Is there any tutorials/examples for learning and using this?

[Holger Rapp]

​There is only what you can find on https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/. This includes a runnable demo. 

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[Holger Rapp]

On Tue, May 2, 2017 at 11:23 AM, ll ll <tann...@gmail.com> wrote:

Thanks for your answer!
So, there is no way to build a map of my environment using cartographer and turtlebot?

If you use a stock turtlebot and record a bag, it might just work with exactly our demo setup.​

​​

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[ll ll]

Thank you for your reply.
I'm using turtlebot in gazebo simulator and rviz. Is it possible to use cartographer on my simulated environment? I am trying to compare the build-in SLAM model with cartographer. If it is possible, which dependences should be included in the launch file?
I am also wondering which SLAM algorithms do cartographer use? Are there any papers on that?

On Tuesday, 2 May 2017 11:26:34 UTC+2, Holger Rapp wrote:

On Tue, May 2, 2017 at 11:23 AM, ll ll <tann...@gmail.com> wrote:

Thanks for your answer!
So, there is no way to build a map of my environment using cartographer and turtlebot?

If you use a stock turtlebot and record a bag, it might just work with exactly our demo setup.​

​​

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[Holger Rapp]

On Sun, May 21, 2017 at 4:45 PM, ll ll <tann...@gmail.com> wrote:

Thank you for your reply.
I'm using turtlebot in gazebo simulator and rviz. Is it possible to use cartographer on my simulated environment? I am trying to compare the build-in SLAM model with cartographer. If it is possible, which dependences should be included in the launch file?

​Just use cartographer_turtlebot. It should work out of the box given your simulator is true to reality.

​

I am also wondering which SLAM algorithms do cartographer use? Are there any papers on that?

​We wrote this paper about 2D. 3D works similar.​

​​

​​

On Tuesday, 2 May 2017 11:26:34 UTC+2, Holger Rapp wrote:

On Tue, May 2, 2017 at 11:23 AM, ll ll <tann...@gmail.com> wrote:

Thanks for your answer!
So, there is no way to build a map of my environment using cartographer and turtlebot?

If you use a stock turtlebot and record a bag, it might just work with exactly our demo setup.​

​​

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