运行webviz显示数据

先来上官网
https://github.com/cruise-automation/webviz

参考网址https://zhuanlan.zhihu.com/p/125638366

安装

1-安装安装rosbridge_suite

sudo apt-get install ros-<rosdistro>-rosbridge-suite

2-安装安装nodejs

# Using Ubuntu
curl -sL https://deb.nodesource.com/setup_10.x | sudo -E bash -
sudo apt-get install -y nodejs

3-编译代码，参考官网

npm run bootstrap # install dependencies
npm run build-static-webviz # generate static build in __static_webviz__
npm run serve-static-webviz # serve static build on localhost:8080

4-安装谷歌浏览器
参考网址https://blog.csdn.net/lxlong89940101/article/details/86287279

使用

1-运行rosbridge_websocket

roslaunch rosbridge_server rosbridge_websocket.launch

2-在webviz根目录执行serve-static-webviz

npm run serve-static-webviz

3-打开谷歌浏览器，登录地址

127.0.0.1：8080

4-运行cartographer slam建图
目前只能显示/map和匹配后的激光点云

后续功能在摸索