test Cartographer and VLP-16

1,566 views
Skip to first unread message

Mauro

unread,
Dec 6, 2016, 9:21:05 AM12/6/16
to google-cartographer

Hi!

I interested in testing cartographer ROS using just one VLP-16 and no IMU. Is it possible?
What could be a starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch but I got no results, even modifying configuration files.

Damon Kohler

unread,
Dec 6, 2016, 9:23:19 AM12/6/16
to Mauro, google-cartographer
There is correlative scan matching for 3D, but it's not well tested and it's pretty slow. Additionally, the optimization problem relies on IMU readings to tie poses together. I think this is a non-starter unless you're prepared to get your hands dirty and add support for this use case.

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/c7f3c35b-284c-454d-97b8-2275950139a9%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

Mauro

unread,
Dec 6, 2016, 10:14:40 AM12/6/16
to google-cartographer, esenon...@gmail.com
Are there any chance for 2D?


On Tuesday, December 6, 2016 at 3:23:19 PM UTC+1, Damon Kohler wrote:
There is correlative scan matching for 3D, but it's not well tested and it's pretty slow. Additionally, the optimization problem relies on IMU readings to tie poses together. I think this is a non-starter unless you're prepared to get your hands dirty and add support for this use case.

On Tue, Dec 6, 2016 at 3:21 PM Mauro <esenon...@gmail.com> wrote:

Hi!

I interested in testing cartographer ROS using just one VLP-16 and no IMU. Is it possible?
What could be a starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch but I got no results, even modifying configuration files.

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

Damon Kohler

unread,
Dec 6, 2016, 10:21:37 AM12/6/16
to Mauro, google-cartographer
If the sensor is moving in a plane (e.g. rigidly attached to some wheeled base) then you could try to convert it into a sensor_msgs/LaserScan and feed it into 2D with correlative scan matching enabled. That should work, but it would be sad to waste the VLP like that.

Is an IMU really not an option?

On Tue, Dec 6, 2016 at 3:21 PM Mauro <esenon...@gmail.com> wrote:
--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

Mauro

unread,
Dec 6, 2016, 11:50:17 AM12/6/16
to google-cartographer, esenon...@gmail.com
I am waiting for an IMU... it will take at least one week. :)
I would like to take advantage of this time to gain experience with cartographer.




On Tuesday, December 6, 2016 at 4:21:37 PM UTC+1, Damon Kohler wrote:
If the sensor is moving in a plane (e.g. rigidly attached to some wheeled base) then you could try to convert it into a sensor_msgs/LaserScan and feed it into 2D with correlative scan matching enabled. That should work, but it would be sad to waste the VLP like that.

Is an IMU really not an option?

On Tue, Dec 6, 2016 at 3:21 PM Mauro <esenon...@gmail.com> wrote:

Hi!

I interested in testing cartographer ROS using just one VLP-16 and no IMU. Is it possible?
What could be a starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch but I got no results, even modifying configuration files.

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

Damon Kohler

unread,
Dec 6, 2016, 11:55:25 AM12/6/16
to Mauro, google-cartographer
In that case, I suggest experimenting with some of our public data: https://google-cartographer-ros.readthedocs.io/en/latest/data.html

On Tue, Dec 6, 2016 at 5:50 PM Mauro <esenon...@gmail.com> wrote:
I am waiting for an IMU... it will take at least one week. :)
I would like to take advantage of this time to gain experience with cartographer.




On Tuesday, December 6, 2016 at 4:21:37 PM UTC+1, Damon Kohler wrote:
If the sensor is moving in a plane (e.g. rigidly attached to some wheeled base) then you could try to convert it into a sensor_msgs/LaserScan and feed it into 2D with correlative scan matching enabled. That should work, but it would be sad to waste the VLP like that.

Is an IMU really not an option?

On Tue, Dec 6, 2016 at 3:21 PM Mauro <esenon...@gmail.com> wrote:

Hi!

I interested in testing cartographer ROS using just one VLP-16 and no IMU. Is it possible?
What could be a starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch but I got no results, even modifying configuration files.

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/30412146-6162-448c-8438-b14c477dc7a6%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

Mauro

unread,
Dec 7, 2016, 2:51:05 AM12/7/16
to google-cartographer, esenon...@gmail.com
Thank you! I will try! :D
Mauro


On Tuesday, December 6, 2016 at 5:55:25 PM UTC+1, Damon Kohler wrote:
In that case, I suggest experimenting with some of our public data: https://google-cartographer-ros.readthedocs.io/en/latest/data.html

On Tue, Dec 6, 2016 at 5:50 PM Mauro <esenon...@gmail.com> wrote:
I am waiting for an IMU... it will take at least one week. :)
I would like to take advantage of this time to gain experience with cartographer.




On Tuesday, December 6, 2016 at 4:21:37 PM UTC+1, Damon Kohler wrote:
If the sensor is moving in a plane (e.g. rigidly attached to some wheeled base) then you could try to convert it into a sensor_msgs/LaserScan and feed it into 2D with correlative scan matching enabled. That should work, but it would be sad to waste the VLP like that.

Is an IMU really not an option?

On Tue, Dec 6, 2016 at 3:21 PM Mauro <esenon...@gmail.com> wrote:

Hi!

I interested in testing cartographer ROS using just one VLP-16 and no IMU. Is it possible?
What could be a starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch but I got no results, even modifying configuration files.

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

Mauro

unread,
Dec 12, 2016, 7:20:36 AM12/12/16
to google-cartographer, esenon...@gmail.com

Now I can use my VLP16 as a LaserScan and I publish my data on a topic named "/scan".
Is it possible to run cartographer_ros 2D and see runtime the result?
I tried using

roslaunch cartographer_ros backpack_2d.launch

but it seems not working. I can see my PointCloud2 and LaserScan but no slam.
could you help me or give some hint?

Mauro

unread,
Dec 12, 2016, 11:52:10 AM12/12/16
to google-cartographer, esenon...@gmail.com

These are the file i am using to test my VLP16.
Are they completely wrong?
test_2d.launch
test_2d.rviz
test_2d.lua

Holger Rapp

unread,
Dec 15, 2016, 8:49:47 AM12/15/16
to Mauro, google-cartographer
​The files look reasonable to me, I do not see an obvious mistake. Could you provide us with a .bag file so we can try out your setup?


To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891

Mauro

unread,
Dec 15, 2016, 9:52:41 AM12/15/16
to google-cartographer, esenon...@gmail.com
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/30412146-6162-448c-8438-b14c477dc7a6%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.

Holger Rapp

unread,
Dec 16, 2016, 5:29:20 AM12/16/16
to Mauro, google-cartographer
​Thank you. 

I investigated by adding your provided files in this commit​ and the necessary fixes to make it work in this commit in my repo of cartographer_ros.

The basic problem was that your /scan topic was publishing in frame_id == velodyne, but you did not advise the system how this relates to your tracking_frame "base_link. I fixed it by letting the robot state publisher publish a static_transform "base_link -> velodyne" with identity. I was able to create a map then (see attached).

What also is clear from looking at rviz is that your laser is not level at all times, i.e. you have not a stable platform. It looks a bit like a hand carried laser? You will have a hard time getting good 2d maps out of this setup without an IMU that gives a gravity estimation to project the scans into the x-y plane.



To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.
2016-12-16-112323_1918x1179_scrot.png

Mauro

unread,
Dec 16, 2016, 9:12:12 AM12/16/16
to google-cartographer, esenon...@gmail.com
Thank you so much!
That is my room! :D

I still have some trouble with this test. Yes, I do not have an IMU (at the moment) and I am moving the VLP16 by hand.
I tried your configuration in live mode
roslaunch cartographer_ros test_2d.launch
and using
roslaunch cartographer_ros test_2d.launch bag_filename:=path-to-bag-file.bag
In both cases I got no results.

Is there some parameter of Rviz that I have to change? I am pretty new to ROS and maybe I am missing something.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.

Mauro

unread,
Dec 16, 2016, 9:15:14 AM12/16/16
to google-cartographer, esenon...@gmail.com
By the way, should the IMU satisfy particular requirements in order to work with cartographer?

Holger Rapp

unread,
Dec 16, 2016, 10:56:14 AM12/16/16
to Mauro, google-cartographer
On Fri, Dec 16, 2016 at 3:12 PM, Mauro <esenon...@gmail.com> wrote:
Thank you so much!
That is my room! :D

I still have some trouble with this test. Yes, I do not have an IMU (at the moment) and I am moving the VLP16 by hand.
I tried your configuration in live mode
roslaunch cartographer_ros test_2d.launch
and using
roslaunch cartographer_ros test_2d.launch bag_filename:=path-to-bag-file.bag

​This is the commandline that worked for me:​
​​
roslaunch cartographer_ros test_2d.launch bag_filename:=
​/home
/hrapp/Downloads/2016-12-15-15-13-20.bag
​​
​Did you ​catkin_make --install? Do the demos work for you? Did you source your devel_isolated/source.bash? 
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

Holger Rapp

unread,
Dec 16, 2016, 10:57:02 AM12/16/16
to Mauro, google-cartographer
On Fri, Dec 16, 2016 at 3:15 PM, Mauro <esenon...@gmail.com> wrote:
​​

By the way, should the IMU satisfy particular requirements in order to work with cartographer?

​We have used Xsens and Microstrain IMUs in the past and have not used cheaper ones. But the requirements (especially for 2D) are fairly small: just tell us were gravity is and please have no terrible biases.​

​​
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

Mauro

unread,
Dec 16, 2016, 12:09:03 PM12/16/16
to google-cartographer, esenon...@gmail.com
We would like to test the system with a Vectornav VN-100: http://www.vectornav.com/products/vn100-rugged
While it can be considered a cheaper one, the gyro bias should be comparable to the Xsens.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.

Mauro

unread,
Dec 21, 2016, 11:38:56 AM12/21/16
to google-cartographer, esenon...@gmail.com
Here I am again. :)
I used an IMU (VN-100) but something went wrong.

my code:
https://github.com/ESeNonFossiIo/cartographer_ros/pull/1/files
and
my bag file:
https://drive.google.com/open?id=0B2ZxmUNhWSDpalV3bmJXUEM0enc

It seems working without IMU. any idea to check it?
I can see my IMU in rviz but I got no improvement in the map.

Holger Rapp

unread,
Dec 22, 2016, 9:54:21 AM12/22/16
to Mauro, google-cartographer
​Thanks, the files and bag look good. I did not try to run your configuration, but I see one obvious error:

rosbag info tells me that your imu is publishing on /imu/imu, while Cartographer expects it on /imu. You need to remap in your launch file. A useful tool for figuring out problems like this is http://wiki.ros.org/roswtf.

I will be on vacation for 2 weeks now - so there will be radio silence till then.


To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsubscribe...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

Mauro

unread,
Dec 29, 2016, 6:39:48 AM12/29/16
to google-cartographer, esenon...@gmail.com
Thank you!

I added
    <remap from="imu" to="/imu/imu" />
 
replaced
  <param name="/use_sim_time" value="true" />
with
  <param name="/use_sim_time" value="false" />

and all work!


 
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Google Germany GmbH
Erika-Mann-Straße 33
80331 München

Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle


--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
Message has been deleted

14330...@qq.com

unread,
Mar 22, 2017, 9:55:33 PM3/22/17
to google-cartographer
Hello ! I have built a  ROS Indigo environment under the  ubuntu14.04 . I also built  ceres-solver, cartographer and cartographer_ros. I downloaded the .bag package that can also be run with roslaunch. But I do not know how to get my VLP16 and cartographer work together. I first downloaded velodyne_driver (sudo apt-get install ros-indigo-velodyne), and the PC and radar connected to the same network segment. After that, I first used : rosrun velodyne_driver velodyne_node _model: = VLP16. Then I used a .launch and .rviz, .lua on the web. But roslaunch this .launch no image. Please give me advice! thank you very much!
test_2d.launch
test_2d.lua
test_2d.rviz

Holger Rapp

unread,
Mar 23, 2017, 7:08:23 AM3/23/17
to 14330...@qq.com, google-cartographer
On Thu, Mar 23, 2017 at 2:55 AM, <14330...@qq.com> wrote:
Hello ! I have built a  ROS Indigo environment under the  ubuntu14.04 . I also built  ceres-solver, cartographer and cartographer_ros. I downloaded the .bag package that can also be run with roslaunch. But I do not know how to get my VLP16 and cartographer work together. I first downloaded velodyne_driver (sudo apt-get install ros-indigo-velodyne), and the PC and radar connected to the same network segment. After that, I first used : rosrun velodyne_driver velodyne_node _model: = VLP16. Then I used a .launch and .rviz, .lua on the web. But roslaunch this .launch no image. Please give me advice! thank you very much!

​Our advice is to start from the 3D demo we have available (which also uses VLP16 data) and then modify the scripts to your needs. It sounds a bit though that you are not very familiar with ROS - for example visualizing your VLP16 point cloud is independent from Cartographer. Maybe you should start with tutorials and ask ROS related questions on answers.ros.org. If you have more specific Cartographer related questions, we are happy to answer!


​​

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

14330...@qq.com

unread,
Mar 27, 2017, 3:19:06 AM3/27/17
to google-cartographer, esenon...@gmail.com
Hello there! Have you solved the problem, and now I have only one VLP16 VLP16 and I use your test files.But I can;? "T get result.I has rosrun velodyne" node.But I think it's data format is 2 points, it is not suitable for cartographer_ros.Can you give me some advice thank you very much? !

In December 13, 2016 UTC + 8 12:52:10 Tuesday morning, Mauro wrote:

I use these to test my VLP16 file.
They are completely wrong?


Monday, December 12, 2016 at 13:20:36 UTC + 1, Mauro wrote:

Now I can use my VLP16 as laser scanning and I published a "subject of my data / scan ."
Is it possible to run cartographer_ros 2D , take a look at the results of run-time?
I tried to use

roslaunch cartographer_ros backpack_2d.launch

But it does not seem to work. I can see my PointCloud2 and laser scanning , but no slam.
Can you help me or give some hints?


On Wednesday, December 7, 2016, at 08 am 51 min 05 sec UTC + 1, Mauro wrote:
Thank you! I will try! : D
Mauro

Tuesday, December 6, 2016 at 17:55:25 UTC + 1, Damon Koch Lyle wrote:
: In this case, I recommend experimenting with our public data  begins with https: // google- drawing, ros.readthedocs. IO / EN / date / data.html

On Tuesday, December 6, 2016 at 5:50 PM Moro < esenon ... @ gmail.com > wrote:
I'm waiting for an IMU ... It will take at least a week. :)
I want to take this time to get the advantage of experience and mapping.




Tuesday, December 6, 2016 at 16:21:37 UTC + 1, Damon Koch Lyle wrote:
If the sensor is moved (e.g., rigidly connected to the wheeled base number) in a plane, then you can try to convert it into a sensor_msgs / 2D laser scanning and feed into the relevant scan enable matching. This should work, but it is sad to waste such a VLP.

IMU is really not an option?

On Tuesday, December 6, 2016 at 2:28 PM Moro < esenon ... @ gmail.com > wrote:

Hi!

I'm interested in only one test drawing ROS VLP-16, no IMU. is it possible?
What could be the starting point for my purpose? I have tried with backpack_2d.launch and backpack_3d.launch results, but I did not get, even if modify the configuration file.

-
because you are subscribed to Google Groups "Google mapping" group you receive this message.
To unsubscribe from this group and stop receiving emails from it, send an email to Google Map Maker + unsub...@googlegroups.com .
To post to this group, send email to Google ... @ googlegroups.com -CA .
-
Google Germany | Erika Mann Street | 80636 Munich | Germany

AG Hamburg, HRB 86891 | Registered Address: Hamburg | Director: Ma Xiu Scott Sucherman, Paul Terence Manicle

-
because you are subscribed to Google Groups "Google mapping" group you receive this message.
To unsubscribe from this group and stop receiving emails from it, send an email to Google Map Maker + unsub...@googlegroups.com .
To post to this group, send email to Google ... @ googlegroups.com -CA .
To view this discussion on the web visit https://groups.google.com/d/ MSGID / Google Map Maker / 30412146-6162-448c-8438- b14c477dc7a6% 40googlegroups. COM .
For more options, visit https://groups.google.com/d/ select Disable .
-
Google Germany | Erika Mann Street | 80636 Munich | Germany

AG Hamburg, HRB 86891 | Registered Address: Hamburg | Director: Ma Xiu Scott Sucherman, Paul Terence Manicle

Damon Kohler

unread,
Mar 27, 2017, 4:18:35 AM3/27/17
to 14330...@qq.com, google-cartographer, esenon...@gmail.com
Hi,

Please try executing the demos as described here:


If you run into trouble with that, please try taking your questions to http://answers.ros.org/.

Damon

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/6bc8b2b7-dc9d-4ebd-9807-8931799ea4fc%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

14330...@qq.com

unread,
Mar 27, 2017, 9:31:58 PM3/27/17
to google-cartographer, 14330...@qq.com, esenon...@gmail.com
Hello!Can I run 2D cartographer with VLP-16?

在 2017年3月27日星期一 UTC+8下午4:18:35，Damon Kohler写道：
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

Damon Kohler

unread,
Mar 28, 2017, 2:34:13 AM3/28/17
to 14330...@qq.com, google-cartographer, esenon...@gmail.com
Sure, but you'll need to massage the data into a sensors_msgs/LaserScan or sensor_msgs/MultiEchoLaserScan on your own.

To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/8d78c56a-4cc5-4e09-b35e-c2a8467910d8%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

14330...@qq.com

unread,
Mar 28, 2017, 7:10:35 AM3/28/17
to google-cartographer, 14330...@qq.com, esenon...@gmail.com
If I want to run cartographer 3D with velodyne VLP16.But I dont't have an imu.Can I run 3D?

在 2017年3月28日星期二 UTC+8下午2:34:13，Damon Kohler写道：
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

Damon Kohler

unread,
Mar 28, 2017, 9:08:35 AM3/28/17
to 14330...@qq.com, google-cartographer, esenon...@gmail.com
Currently, it is not possible to run 3D SLAM without an IMU. You can fake the IMU as we do for the TurtleBot depth camera configuration. But, YMMV.

To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/09b9c00f-f79d-4185-9304-7ba75e13d6c6%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

14330...@qq.com

unread,
Mar 28, 2017, 9:55:07 PM3/28/17
to google-cartographer, 14330...@qq.com, esenon...@gmail.com
Thank you!If I want to run 2D only.How should I change VLP16'data into cartographer?How to use msg?

在 2017年3月28日星期二 UTC+8下午9:08:35，Damon Kohler写道：
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartographer+unsub...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.

Damon Kohler

unread,
Mar 31, 2017, 8:14:07 AM3/31/17
to 14330...@qq.com, google-cartographer, esenon...@gmail.com
You will need to choose a method of flattening your VLP16 point cloud into a sensor_msgs/LaserScan. Try asking on http://answers.ros.org/.

To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.
To post to this group, send email to google-ca...@googlegroups.com.
--
Google Germany GmbH | Erika-Mann-Strasse | 80636 Muenchen | Germany

AG Hamburg, HRB 86891 | Sitz der Gesellschaft: Hamburg | Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https:/

--
You received this message because you are subscribed to the Google Groups "google-cartographer" group.
To unsubscribe from this group and stop receiving emails from it, send an email to google-cartogra...@googlegroups.com.

To post to this group, send email to google-ca...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/google-cartographer/52275bc4-ddcf-44ca-9143-aff30e6c0528%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.
Reply all
Reply to author
Forward
0 new messages