紧接着上篇cartographer的第五步，由于博客编辑器有点问题没有写完， 5/数据下载测试Running the demos Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:

Download the 2D backpack example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

Launch the 2D backpack demo.

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

Download the 3D backpack example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

Launch the 3D backpack demo.

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

Download the Revo LDS example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag

Launch the Revo LDS demo.

roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

Download the PR2 example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag

Launch the PR2 demo.

roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag

Download the Taurob Tracker example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag

Launch the Taurob Tracker demo.

roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag

最后给出一些我编译调试时使用的一些网址： 谷歌Cartographer学习（1）-快速安装测试 cartographer_ros+Ubuntu14.04安装 Cartographer ROS Integration chengwei0019的安装方法 ROS_Kinetic_27 在ROS中使用Cartographer进行SLAM How to install Google Ceres solver and 1DSfM on Ubuntu 14.04 Cartographer系列之三——ROS中的安装 【泡泡机器人原创专栏-Cartographer】Cartographer理论及实现浅析 cartographer_ros into IDE Debug