MBS SLAM PACKAGE - Operation

  • Launch the indoor slam package via:
roslaunch mbs_slam indoor_slam.launch
  • Launch the outdoor slam package via:
roslaunch mbs_slam outdoor_slam.launch
  • Launch the localization slam package via:
roslaunch mbs_slam localization.launch

Saving the Point Clouds

rosservice call /hdl_graph_slam/dump
  • Save all the internal data (point clouds, floor coeffs, odoms, and pose graph) to a directory.
rosservice call /hdl_graph_slam/save_map "resolution: 0.05 destination: '/full_path_directory/map.pcd'"
  • Save the generated map as a PCD file.

More information available at koide3 hdl graph