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地图构建功能模块cartographer
资源介绍
cartographer建图。
catkin_make -DFORCE_DEBUG_BUILD=True。
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/b3-2016-04-05-14-14-00.bag