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include "map_builder.lua" | |
include "trajectory_builder.lua" | |
options = { | |
map_builder = MAP_BUILDER, | |
trajectory_builder = TRAJECTORY_BUILDER, | |
map_frame = "map", | |
tracking_frame = "imu_link", | |
published_frame = "base_link", | |
odom_frame = "odom", |
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#include <ros/ros.h> | |
#include "std_msgs/String.h" | |
#include "geometry_msgs/Transform.h" | |
#include <sensor_msgs/PointCloud2.h> | |
// PCL specific includes, but mostly aren't needed | |
#include <pcl_conversions/pcl_conversions.h> | |
#include <pcl/point_cloud.h> | |
#include <pcl/point_types.h> |
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include "map_builder.lua" | |
include "trajectory_builder.lua" | |
options = { | |
map_builder = MAP_BUILDER, | |
trajectory_builder = TRAJECTORY_BUILDER, | |
map_frame = "map", | |
tracking_frame = "imu_link", | |
published_frame = "base_link", |
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include "wood_car.lua" | |
TRAJECTORY_BUILDER.pure_localization_trimmer = { | |
max_submaps_to_keep = 3, | |
} | |
POSE_GRAPH.optimize_every_n_nodes = 2 | |
POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 | |
POSE_GRAPH.constraint_builder.min_score = 0.75 | |
POSE_GRAPH.global_constraint_search_after_n_seconds = 20. |
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<launch> | |
<param name="/use_sim_time" value="true" /> | |
<param name="robot_description" | |
textfile="$(find cartographer_ros)/urdf/wood_car.urdf" /> | |
<node name="robot_state_publisher" pkg="robot_state_publisher" | |
type="robot_state_publisher" > | |
<remap from="/tf" to="/carto/tf" /> | |
</node> |
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Obtaining file:///home/artemii/evo | |
Collecting numpy (from evo==1.5.5) | |
Using cached https://files.pythonhosted.org/packages/e5/e6/c3fdc53aed9fa19d6ff3abf97dfad768ae3afce1b7431f7500000816bda5/numpy-1.17.2-cp36-cp36m-manylinux1_x86_64.whl | |
Collecting matplotlib (from evo==1.5.5) | |
Using cached https://files.pythonhosted.org/packages/57/4f/dd381ecf6c6ab9bcdaa8ea912e866dedc6e696756156d8ecc087e20817e2/matplotlib-3.1.1-cp36-cp36m-manylinux1_x86_64.whl | |
Collecting scipy (from evo==1.5.5) | |
Using cached https://files.pythonhosted.org/packages/29/50/a552a5aff252ae915f522e44642bb49a7b7b31677f9580cfd11bcc869976/scipy-1.3.1-cp36-cp36m-manylinux1_x86_64.whl | |
Collecting pandas (from evo==1.5.5) | |
Using cached https://files.pythonhosted.org/packages/73/9b/52e228545d14f14bb2a1622e225f38463c8726645165e1cb7dde95bfe6d4/pandas-0.25.1-cp36-cp36m-manylinux1_x86_64.whl | |
Collecting seaborn>=0.9 (from evo==1.5.5) |
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E1007 17:07:38.366153 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.001227982 but sensor time 1570438424.468455112 differing by -0.532773 s. | |
E1007 17:07:38.366683 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.001967410 but sensor time 1570438424.472203585 differing by -0.529764 s. | |
E1007 17:07:38.366732 21812 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1570438425.002003978 but sensor time 1570438424.477462122 differing by -0.524542 s. | |
W1007 17:07:38.372545 21812 rosbag_validate_main.cc:352] frame_id "odom" on topic /odom has serialization time 1570438425.014802445 but sensor time 1570438424.517248262 differing by -0.497554 s. | |
I1007 17:07:39.014505 21812 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_1" (frame_id: "horizontal_front_laser_link"): | |
Count: 1838 Min: 0.072517 Max: 0.082908 Mean: 0.077564 | |
[0.072517, 0.073556) |
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E0928 15:00:15.221438 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145352641 but sensor time 1569653125.323555455 differing by -0.821797 s. | |
E0928 15:00:15.221809 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145469351 but sensor time 1569653125.333523817 differing by -0.811946 s. | |
E0928 15:00:15.221880 15772 rosbag_validate_main.cc:350] frame_id "odom" on topic /odom has serialization time 1569653126.145615029 but sensor time 1569653125.343534761 differing by -0.80208 s. | |
W0928 15:00:15.222672 15772 rosbag_validate_main.cc:352] frame_id "imu_link" on topic /imu/data has serialization time 1569653126.148250960 but sensor time 1569653125.820909976 differing by -0.327341 s. | |
I0928 15:00:17.609419 15772 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_1" (frame_id: "horizontal_front_laser_link"): | |
Count: 6407 Min: 0.071594 Max: 0.083540 Mean: 0.077573 | |
[0.071594, 0.0 |