A set of utilities for ROS 2 cartographer package.
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=On --packages-up-to cartographer_utils A node for fusing pose and twist data from different sources. It may be useful for localization pipelines, where
odometry topic type is required, since cartographer ROS 2 API provides only pose topic as an output.
ros2 launch cartographer_initializer cartographer_initializer.launch.py configuration_directory:=/path/to/dir configuration_basename:=filename.lua
Name
Type
Description
posegeometry_msgs::msg::PoseStamped
Input pose topic.
pose_with_covariancegeometry_msgs::msg::PoseWithCovarianceStamped
Input pose with covariance topic.
twistgeometry_msgs::msg::TwistStamped
Input twist topic.
twist_with_covariancegeometry_msgs::msg::TwistWithCovarianceStamped
Input twist with covariance topic.
Name
Type
Description
odometrynav_msgs::msg::Odometry
Output odometry topic.
Name
Type
Description
odom_ratedouble
Output odometry rate.
frame_idstr
Output odometry frame id.
child_frame_idstr
Output odometry child frame id.
pose.is_with_covbool
Wheter input pose topic is WithCovariance msg type.
pose.override_covbool
Wheter to override input pose topic covariance (if contains).
pose.covlist[36]
Covariance matrix for output pose of odometry topic.
twist.is_with_covbool
Wheter input twist topic is WithCovariance msg type.
twist.override_covbool
Wheter to override input twist topic covariance (if contains).
twist.covlist[36]
Covariance matrix for output twist of odometry topic.
A node for setting up vehicle ego pose via /initialpose (rviz tool) topic using cartographer ROS 2 API.
ros2 launch cartographer_utils pose_initializer.launch.py configuration_directory:=/path/to/dir configuration_basename:=filename.lua
Name
Type
Description
/initialposegeometry_msgs::msg::PoseWithCovarianceStamped
Requested vehicle ego pose from rviz tool.
Name
Type
Description
get_trajectory_statescartographer_ros_msgs::srv::GetTrajectoryStates
Service to get trajectory states from cartographer.
finish_trajectorycartographer_ros_msgs::srv::FinishTrajectory
Service to finish cartographer's trajectory.
start_trajectorycartographer_ros_msgs::srv::StartTrajectory
Service to start cartographer's trajectory.
Name
Type
Description
configuration_directorystr
Path to lua config directory.
configuration_basenamestr
File name of lua config.
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