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Python 16.68% Lua 1.21% CMake 8.85% C 1.07% C++ 41.78% Shell 0.45% Common Lisp 16.67% NewLisp 5.54% JavaScript 7.69% GLSL 0.06%

cartographer's Introduction

《地图构建》项目进展（2017秋季学期）

2017/8/27 明确任务

IMU.node在ROS中的自定义设置；
融合外部IMU和Laser数据，turtleBot作为移动平台，离线/在线建图；
拍摄Demo视频(走廊+两个房间)；
自建移动平台运动模型，整合前期成果，完成一套完整地图构建系统；
建立该项目的博客网站(GithubPage)；
从用户角度出发，简化系统搭建操作，将部分命令整合到后台(.exe，C++)；
编写用户使用手册。

2017/9/26 系统集成使用教程 by myc

总结前期系统搭建流程和步骤，见cartographer配置总结.docx
详述.lauch和.lua文件的设置方法
但IMU的部分尚未完成，过程与Lidar相似

2017/9/29 用户程序安装 by yzh

完成ROS系统傻瓜式安装程序（如图）
按照类似的方法，继续Hokuyo和IMU的node的安装与配置

2017/10/25 在turtle上成功运行 by zl

编写hukuyo.urdf.xacro，kuboki_hexagens_hokuyo.
配置文件修改 hokuyo_xsens.launch, turtlebot_xsens.lua, turtlebot_demo.rviz
总结文档完成，移步 https://zldodo.github.io/2017/11/09/07-SLAM-Summary/

2017/11/26 下阶段安排 by zl

振翮继续完成软件封装的工作,调试.sh文件
封装硬件，制作一个SLAM硬件模块，包含Lidar,Imu和Raspi
针对该模块，修改之前的配置参数
制作一个操作界面，包含开始建图，显示坐标，保存地图。
完成新模块的调试工作，录制视频。

2018/01/18 最后的封装 by zl

阅读/LaserSLAM下02-06的安装及配置内容，然后完成在全新电脑上的自动生成程序.py
制作一个操作界面，替代命令行界面，功能包含开始建图，显示坐标，保存地图等。
撰写详细的使用手册（包含图表），并整理好troubleShooting的issues。
剪辑视频，并在视频中加入合适的文字说明，做成一个时长1-2min的demo视频文件。

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