we are coming from a ROS based system and are currently experimenting with isaac.
What we are doing is to test mapping, localization and navigation. We want to use the isaac cartographer wrapper for the mapping and localization.
Since we do have a robot that is based completely on ROS we wanted to test by just converting all sensor data to proto and use that in isaac.
What we’ve achieved so far is:
isaac::PoseTree, we map
robotand scan frame to
- setup ROS turtlebot sim to test in simulation.
We’ve based our apps on the
We can get gmapping to work (at least a map is shown, the mapping params need to be tuned):
Cartographer does not work:
(I am not allowed to post more than one image) No map is shown and after closing the app , the map in
/tmp is empty.
We are also confused by the documentation. According to this
cartographer does not need
odometry as input as gmapping does.
However, according to this requirement cartographer needs some sort of odometry?
We have no idea what could be wrong with our cartographer app, since we use exactly the same app as for gmapping except including the cartographer subgraph and cartographer configs similar to the carter example.
We also cannot try the
log_cartographerexample since the replay data is missing.
We use SDK version 2020.1.
Any help or pointers would be largely appreciated! Thanks in advance and kind regards,