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Hi @DiegoM_A2B:

Cartographer offers ROS integration. For more info refer to this documentation

For landmarking, you have message type LandmarkEntry.msg as

string id
geometry_msgs/Pose tracking_from_landmark_transform
float64 translation_weight
float64 rotation_weight

and LandmarkList.msg as:

std_msgs/Header header
cartographer_ros_msgs/LandmarkEntry[] landmarks

Take a look at this thread: https://github.com/cartographer-project/cartographer_ros/issues/1067 on a discussion how to incorporate landmarking. Also the suggested script to achieve this :https://gist.github.com/mojovski/bb14bdeb6ccb117ece0263caa6b747a9

Hi @DiegoM_A2B:

Cartographer offers ROS integration. For more info refer to this documentation

For landmarking, you have message type LandmarkEntry.msg as

string id
geometry_msgs/Pose tracking_from_landmark_transform
float64 translation_weight
float64 rotation_weight

and LandmarkList.msg as:

std_msgs/Header header
cartographer_ros_msgs/LandmarkEntry[] landmarks

Take a look at this thread: https://github.com/cartographer-project/cartographer_ros/issues/1067 on a discussion how to incorporate landmarking. Also the suggested script to achieve this :https://gist.github.com/mojovski/bb14bdeb6ccb117ece0263caa6b747a9: https://gist.github.com/mojovski/bb14bdeb6ccb117ece0263caa6b747a9