cartographer-tuner 0.1.1

A toolkit for Google-Cartographer tuning.

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.

Example

• pgm-corner-count /path/tp/map.pgm
• pgm-occupied-proportion /path/to/map.pgm
• pgm-enclosed-areas /path/to/map.pgm

Map building

The tool may build 2D map out of rosbag file via cartographer.

Note: rosbag file must contain topics named according to cartographer requirements: /imu, /scan, etc

Example:

lua-to-pgm \
    --bag_filename=/data/bags/2011-01-28-06-37-23 \
    --configuration_directory=/opt/ros/humble/share/cartographer_ros/configuration_files \
    --configuration_basenames=mit_stata.lua \
    --map_filestem=/data/maps/2011-01-28-06-37-23_test 

Configuration evaluation

One can combine map building and evaluation in one step.

Example:

lua-pgm-metrics \
    --bag_filename=/data/bags/2011-01-28-06-37-23 \
    --config_dir=/opt/ros/humble/share/cartographer_ros/configuration_files \
    --config_basename=mit_stata.lua

System Requirements

This package requires the following external tools to be installed (for some functionality):

• cartographer - Google Cartographer SLAM library
• cartographer_ros - ROS 2 integration for Cartographer
• rviz - ROS2 integration for RViz

Dependecy installation:

sudo apt-get install \
    ros-${ROS_DISTRO}-cartographer-ros \
    ros-${ROS_DISTRO}-cartographer \
    ros-${ROS_DISTRO}-cartographer-rviz