Multi session example

Three bag files are tested:

• First session bag: 2020-11-10-14-32-56.bag
• Second session bag: 2020-11-10-15-22-08.bag
• Third session bag: 2020-11-10-15-47-02.bag

All sessions start from the same initial pose.

First session

We launch the offline Cartographer modality for the first session in order to speed up the process.

$ roslaunch beetle_cartographer demo_beetle_cartographer_offline.launch bag_filenames:=<full-path-to>/2020-11-10-14-32-56.bag

The offline modality automatically saves the result in /2020-11-10-14-32-56.bag.pbstream when it finishes.

Second session

We launch the multisession modality by passing 1) previous map, 2) new bag to process.

We launch Cartographer in a first terminal.

$ roslaunch beetle_cartographer demo_beetle_cartographer_multisession.launch  load_state_filename:=<full-path-to>/2020-11-10-14-32-56.bag.pbstream bag_filename:=<full-path-to>/2020-11-10-15-22-08.bag

The process is PAUSED at this point. In a second terminal, we call the rosservice /start_trajectory, providing the initial pose:

$ rosservice call /start_trajectory "configuration_directory: '$(rospack find beetle_cartographer)/config'
configuration_basename: 'beetle_cartographer_2d.lua'
use_initial_pose: true
initial_pose:
  position: {x: 0.0, y: 0.0, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
relative_to_trajectory_id: 0"

We call this service to start a new trajectory relative to trajectory 0. Once the service is call we can press the SPACE bar in the first terminal to start the bag processing.

Saving second session

The online modality does not save the .pbstream by default. Instead, we call the following service few seconds before the mapping process finishes:

$ rosservice call /write_state "filename: '<full-path-to>/2020-11-10-15-22-08.bag.pbstream'
include_unfinished_submaps: true"

Third session

We proceed similarly for the third session.

We launch Cartographer in a first terminal. We provide the previous .pbstream that will contain the two previous trajectories and the new bag file to process.

$ roslaunch beetle_cartographer demo_beetle_cartographer_multisession.launch  load_state_filename:=<full-path-to>/2020-11-10-15-22-08.bag.pbstream bag_filename:=<full-path-to>/2020-11-10-15-47-02.bag

In a second terminal, we call the rosservice /start_trajectory, providing the initial pose:

$ rosservice call /start_trajectory "configuration_directory: '$(rospack find beetle_cartographer)/config'
configuration_basename: 'beetle_cartographer_2d.lua'
use_initial_pose: true
initial_pose:
  position: {x: 0.0, y: 0.0, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
relative_to_trajectory_id: 1"

We call this service to start a new trajectory relative to trajectory 1. Once the service is call we can press the SPACE bar in the first terminal to start the bag processing.