cartographer中核心代码python
时间: 2023-07-23 14:44:51 浏览: 42
Cartographer的核心代码是C++编写的,但也提供了Python API接口,可以方便地在Python中使用。以下是Cartographer中Python API的一些核心代码示例:
1. 获取激光雷达数据
```python
from cartographer_ros_msgs.msg import SensorTopics
sensor_topics = SensorTopics()
sensor_topics.topic.assign('scan')
sensor_topics.num_laser_scans = 1
sensor_topics.num_multi_echo_laser_scans = 0
sensor_topics.num_subdivisions_per_laser_scan = 1
```
2. 计算机器人姿态
```python
from cartographer_ros_msgs.msg import Odometry
odometry = Odometry()
odometry.header.stamp = rospy.Time.now()
odometry.header.frame_id = 'odom'
odometry.child_frame_id = 'base_link'
odometry.pose.pose.position.x = pose_x
odometry.pose.pose.position.y = pose_y
odometry.pose.pose.position.z = 0.0
odometry.pose.pose.orientation.x = quat_x
odometry.pose.pose.orientation.y = quat_y
odometry.pose.pose.orientation.z = quat_z
odometry.pose.pose.orientation.w = quat_w
```
3. 构建地图
```python
from cartographer_ros_msgs.msg import SubmapList
submap_list = SubmapList()
submap_list.header.stamp = rospy.Time.now()
submap_list.header.frame_id = 'map'
for submap in submaps:
submap_msg = SubmapEntry()
submap_msg.submap_version = submap.version
submap_msg.pose = submap.pose
submap_msg.submap_id = submap.submap_id
submap_list.submap.append(submap_msg)
```
以上是Cartographer中Python API的一些示例代码,可以方便地在ROS环境中使用。如果需要更详细的使用方法,可以参考Cartographer的官方文档。