cartographer和eai的s4型号激光雷达实时建图配置
这是一个激光雷达的建图配置,没有其他的传感器
.launch文件
对每个节点大致解释
cartographer_node 这个节点每个launch都有,指向a1.lua文件。
playbag这个节点被删除了,不然会报错
cartographer_occupancy_grid_node
robot_state_publisher
<launch>
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />
<!--node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" /-->
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename a1.lua"
output="screen">
<remap from="scan" to="scan" />
</node>
&l