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cartographer 超详细注释代码

项目简介

基于2021.04.20日在github上下载的master的代码的注释版本

  1. 存在规范、超详细的注释 注释多数在 .cc 文件中, .h文件中存在cartographer原本的注释
  2. 增加关键地方的公式推导
  3. 难理解部分代码画图展示原理
  4. c++11新标准的语法的标注与简介

课程简介与购买链接

课程简介与购买链接

推荐编译环境

  • ubuntu 16.04/18.04 版本
  • ROS Kinetic/Melodic 版本
  • vscode

vscode中推荐的插件有:

  • C/C++
  • C++ Intellisense
  • Doxygen Documentation Generator
  • Msg Language Support
  • XML Tools
  • Todo Tree: 注释的高亮显示

相关命令

2d建图指令

roslaunch cartographer_ros lx_rs16_2d_outdoor.launch

保存2d轨迹,并生成ros格式的地图

./finish_slam_2d.sh

纯定位模式

roslaunch cartographer_ros lx_rs16_2d_outdoor_localization.launch

3d建图指令

roslaunch cartographer_ros lx_rs16_3d.launch

保存3d轨迹

./finish_slam_3d.sh

使用asset生成ros格式的2d栅格地图

roslaunch cartographer_ros assets_writer_2d.launch

使用asset生成3d点云地图

roslaunch cartographer_ros assets_writer_3d.launch

landmark使用示例

roslaunch cartographer_ros landmark_mir_100.launch

by lixiang

cartographer_detailed_comments_ws's People

Contributors

xiangli0608 avatar

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