有人有使用制图员实时绘制2d的程序吗？

Question

我想用catrographer_ros进行映射，但是由于我对ros很陌生，所以我很难做到。我尝试使用从激光雷达获得的rosbag数据，并使用backback_2d.launch启动它。但是，在rviz上没有发生映射。

网站https://google-cartographer-ros.readthedocs.io/en/latest/没有解决我问题的方法或步骤

Answer 1

This is the example i get from rplidar_s1.

THis is what it comes out when i use the cartographer_rosbag_validate -bag_filename your_bag.bag. I dont really understand it though. Then, i use the command 'roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/bagfiles/1.bag ' to launch the rviz with the rosbag. But no map is generated