Sunt40
Sunt40
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2019-03-10 11:04 阅读 951

如何基于RatSLAM使用usb摄像头进行slam建图?

源码里的教程:
Using Custom Bag Files (or Real Robots)

Bag files (or real robots) must provide at least images for RatSLAM on topics //camera/image [sensor_msgs::Image] or //camera/image/compressed sensor_msgs::CompressedImage. Odometry may also be provided on topic //odom [nav_msgs::Odometry], or can be estimated using visual flow from the image data. Aside from the bag file, two other files are required: a config file and a launch file.
他这里提到的config文件和launch文件我自己写好了
下面的教程就看不懂了,请大佬解读一下
Creating a bag file

Loading a dataset into a bag file

The easiest way to tune RatSLAM is using an offline dataset. Any robot providing camera images as sensor_msgs/CompressedImage and odometry as nav_msgs/Odometry can be used. The images and odometry must be in the form /camera/image and /odom.

To convert topic names to the correct format run:

rostopic echo | rostopic pub /camera/image sensor_msgs/CompressedImage &
rostopic echo | rostopic pub /odom nav_msgs/Odometry &

Start recording into a bag file:

rosbag record -O .bag /camera/image /odom

Start the robot and collect the dataset. Press Ctrl-C at the terminal to finish recording.

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1条回答 默认 最新

  • TITANIKK TITANIKK 2020-07-16 11:19

    请问你看的这个教程在哪里看的,我现在只能用ratslam跑数据集,不会调用USB摄像头来运行ratslam

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