A toolkit for Google-Cartographer tuning.
Project description
Cartographer Tuner
Helper package for Cartographer tuning.
Installation
pip install cartographer_tuner
PGM Map metrics
The tool implements metrics presented in 2D SLAM Quality Evaluation Methods.
Usage example:
pgm-corner-count /path/tp/map.pgmpgm-occupied-proportion /path/to/map.pgmpgm-enclosed-areas /path/to/map.pgm
System Requirements
This package requires the following external tools to be installed (for some functionality):
cartographer- Google Cartographer SLAM library- Installation:
sudo apt-get install ros-<version>-cartographer
- Installation:
cartographer_ros- ROS 2 integration for Cartographer- Installation:
sudo apt-get install ros-<version>-cartographer-ros
- Installation:
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