huangshuqing

When I need to relocate with initial_pose, the cartographer use the way of adding a new trajectory. Such as : Eigen::Quaterniond quaterniond_cur_to_traj0=cartographer::transform::RollPitchYaw(0,0,20); geometry_msgs::PoseWithCovarianceStamped pose_msg; pose_msg.header.stamp = ros::Time::now(); pose_msg.header.frame_id = "map";...

The issue of Remaining work items in queue

7

Hello， I use a VLP16 laser and a xsens imu. when I run cartographer 3D with pure Localization in a Given Map, I always meet the issue of remaining work...

If the scene expands even bigger， how can I add a new map based on the original map?

5

Hello, every one! If my robot has been working on a scene for a long time，but the scene expands even bigger one day, so I want to add a new...