The package provides a quick demonstration of 3-D SLAM using hokuyo3d (driver node for Hokuyo YVT series) and Google Cartographer. The parameters in this package are compatible with cartographer 0.3.0.

Running in docker container is recommended to avoid linux installation related problems. This requires Docker and docker-compose installed. (see https://docs.docker.com/install/ and https://docs.docker.com/compose/install/)

Provided docker-compose is for Intel HD and Radeon graphic boards. NVIDIA requires nvidia-docker and nvidia-docker-compose installed and some changes on docker-compose.yml.

1. Connect YVT sensor having the IP address of 192.168.0.10 (sensor default)
2. Run

   $ xhost +  # Allow showing rviz from docker container (needed to run for each login)
   $ docker-compose up

Keep in mind that it will download about 1GB of the docker image at the first time of the run. To update docker image, do:

$ docker pull atwat/cartographer_hokuyo3d

Resultant data including bag file, trajectory node pbstream, and pointcloud in pcd format will be exported to your ~/.slam-results. The exported files will be overwritten by running it.

$ docker build -t atwat/cartographer_hokuyo3d:latest .

To apply manually updated parameters into the docker image, add following two lines to the volumes: section in the docker-compose.yml. Now, your local change is bound to the container.

      - "${PWD}/configuration_files:/opt/ros/kinetic/share/cartographer_hokuyo3d/configuration_files"
      - "${PWD}/launch:/opt/ros/kinetic/share/cartographer_hokuyo3d/launch"