Usage

A2D2 Rosbag

The Audi Autonomous Driving Dataset (A2D2) can be downloaded from this site and converted to a rosbag using the A2D2 ROS Preparer.

Running Cartographer

Launch a 3D SLAM demo based on the A2D2 bag:

source ./devel_isolated/setup.bash

roslaunch cartographer_audi_a2d2 demo_a2d2.launch \
    bag_filename:=/path/to/Ingolstadt_output/driving_data.bag

Generate the map and wait until cartographer_offline_node finishes:

roslaunch cartographer_audi_a2d2 offline_a2d2.launch \
    load_state_filename:=${HOME}/Downloads/Ingolstadt_output/driving_data.bag.pbstream \
    bag_filename:=${HOME}/Downloads/Ingolstadt_output/driving_data.bag

Only visualize the generated map:

roslaunch cartographer_audi_a2d2 visualize_pbstream.launch \
    pbstream_filename:=${HOME}/Downloads/Ingolstadt_output/driving_data.bag.pbstream

Write images

roslaunch cartographer_audi_a2d2 offline_a2d2.launch \
    pose_graph_filename:=${HOME}/Downloads/Ingolstadt_output/driving_data.bag.pbstream \
    bag_filename:=${HOME}/Downloads/Ingolstadt_output/driving_data.bag