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cartographerの3d backpack demoをROS 2で実行する

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動作確認環境

OS : ubuntu22.04LTS
ROS : ROS2 Humble

cartographerのインストール

sudo apt install ros-humble-cartographer 

rosbagファイルのダウンロード

適当な場所に 3D backpack demo をダウンロード

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

ROSのrosbagデータをROS2 のrosbagに変換

こちらを参照してROS2で使えるrosbagに変換

rosbags-convert b3-2016-04-05-14-14-00.bag 

rosbagと同じ名前のディレクトリができる

.
├── b3-2016-04-05-14-14-00
│   ├── b3-2016-04-05-14-14-00.db3
│   └── metadata.yaml
├── b3-2016-04-05-14-14-00.bag

実行

bag_filenameにrosbagがあるディレクトリを指定

 ros2 launch  cartographer_ros demo_backpack_3d.launch.py  bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00

参考

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