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Cartographer

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Run with docker

git clone https://github.com/j3soon/ros2-essentials.git

cd ros2-essentials/cartographer_ws/docker
docker compose pull
docker compose up -d --build

Simple Test With Turtlebot3

  • Attach to the container

    docker attach ros2-cartographer-ws
cd /home/ros2-essentials/cartographer_ws
    - Open the turtlebot simulation in tmux

    export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
    - Run the SLAM node in new window of tmux

    ros2 launch turtlebot3_cartographer cartographer.launch.py is_sim:=True
    - Run the control tool in new window of tmux

    rqt_robot_steering

Building Packages

docker attach ros2-cartographer-ws
cd /home/ros2-essentials/cartographer_ws
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro humble -y
colcon build

After the build process, make sure to source the install/setup.bash file.
Otherwise, ROS2 will not locate the executable files. You can open a new terminal to accomplish this.

Multi LiDAR - Single Robot SLAM test

Simulation

  • multi_lidar_desp package: Description of a robot with multiple LiDARs.

  • multi_lidar_gazebo package: Gazebo simulation of the robot with robot state publisher.

    ros2 launch multi_lidar_gazebo multi_lidar_gazebo.launch.py

Run the SLAM node

  • Run the cartographer SLAM node in new window of tmux 
    ros2 launch cartographer_demo cartographer_demo.launch.py is_sim:=True
  • Run the control tool in new window of tmux 
    rqt_robot_steering

References