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cartographer
火柴的初心
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[Cartographer]AddTrajectory
AddTrajectory从Node::StartTrajectoryWithDefaultTopics()进来后,开始使用函数Node::AddTrajectory添加轨迹int Node::AddTrajectory(const TrajectoryOptions& options) { const std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId> expected_sen原创 2022-03-30 18:23:49 · 1595 阅读 · 0 评论 -
[Cartographer]初始化
[Cartographer]初始化[Cartographer]传感器数据流1.Cartographer文件树cartographer算法包括cartographer和cartographer_ros两部分,其中cartographer为算法的核心实现,cartographer_ros为算法和ROS的对接的桥梁,方便用户使用。.├── cartographer│ ├── bazel│ │ └── third_party│ ├── cartographer│ │ ├──原创 2022-03-30 14:49:18 · 502 阅读 · 0 评论 -
[Cartographer]传感器数据流
传感器数据流A.Node开始建图node.StartTrajectoryWithDefaultTopics(trajectory_options);添加轨迹,订阅话题int Node::AddTrajectory(const TrajectoryOptions& options){ .... LaunchSubscribers(options, trajectory_id);}在LaunchSubscribers中调用传感器的回调函数void Node::Han原创 2022-03-28 11:00:37 · 1901 阅读 · 0 评论