前提:cartographer 和 cartographer‘s ros 已经安装完毕
提醒:部分运行前可能需要重定位ROS环境(你的安装路径)
source ${HOME}/catkin_ws/devel/setup.bash
//如果你的shell是zsh,则用zsh替代bash
例子1:Deutsches Museum(德意志博物馆)
下载和运行2d安装包,第1句是下载离线包,第2句是安装
离线包下载 百度云盘 提取码:rwp7
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
下载和运行3d安装包,第1句是下载,第2句是安装
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-0