The code in this repository amis at mapping successful with cartographer. The sensors used in this case are IMU and LIDAR.

Sensors

• IMU

  The IMU device used in this project is HI216. You can get some information and technique documents in HERE.

  You can find the driver of IMU in the src/imu_interface_broadcaster folder.

• LIDAR

  The LIDAR device used in this project is velodyne 16 lines.

  The driver of velodyne is velodyne_driver. It has a wiki page where you can know it better.

  Warning: the newest Velodyne driver may cause A cartographer warning, so try the driver in this repository

Others

• URDF

  One thing must be noticed. The relationship(tf) of the IMU and the LIDAR can be adjusted to the URDF file, and it must fit the real world.

• Launch

  After all node compiled, you can run cartographer with commands below to generate your own map

  roslaunch cartographer_ros demo_velodyne2d.launch

• Demos

  Those demo are tested in a large wild environment.

  • 2D demo

    After all sensors connected, use command below(Do not forget your own filename)

     roslaunch cartographer_ros demo_velodyne2d.launch
     //after finish your mapping
     rosservice call /finish_trajectory 0
     rosservice all /write_state "filename: '' include_unfinished_submaps: 'false' "

    
- #### Pure_localization demo
  
  Use command below, remember to use your own bag 
  
  ```c++
    roslaunch cartographer_ros demo_velodyne2d_localization.launch \ load_state_filename:= \ bag_filename:=

The initial pose can be appointed manual by command below

You can refer to [This page](https://github.com/googlecartographer/cartographer_ros/issues/579#issuecomment-351482589)

1.rosservice call /finish_trajectory "trajectory_id: 1"
2.rosrun cartographer_ros cartographer_start_trajectory -configuration_directory=/home/xcy/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/ -initial_pose="{to_trajectory_id=0,relative_pose={translation={1.0,-0.2,0.},rotation={0.,0.,0.}}}"

• 3D demo

  Use command below after all sensors connected

roslaunch cartographer_ros demo_vlp16_imu3d.launch //after finish your mapping rosservice call /finish_trajectory 0 rosservice all /write_state "filename: '' include_unfinished_submaps: 'false' "

- **Save map**

  Use command below when you wanna save the map(pgm map)

  ```
  1. rosservice call /finish_trajectory "trajectory_id: 1"
  2. rosrun map_server map_saver -f map001
  ```