From 1be6d5bfaf7e0ebc2417f34ecaed33a770ab9ed6 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 27 Sep 2024 11:19:42 +0200 Subject: [PATCH] Docs: explain how to build a 2D map too --- docs/source/building-maps.rst | 18 ++++++++++++++++++ docs/source/solutions.rst | 4 ++-- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/docs/source/building-maps.rst b/docs/source/building-maps.rst index e66ecd9..61521b9 100644 --- a/docs/source/building-maps.rst +++ b/docs/source/building-maps.rst @@ -130,6 +130,24 @@ or from the :ref:`UI controls ` in the ``mola_lidar_od .. note:: Remember changing ``--lidar-sensor-label /ouster/points`` to your actual raw (unfiltered) LiDAR topic (``sensor_msgs/PointCloud2``). +.. dropdown:: Building 2D maps + + Until ``mola_2d_mapper`` is released, you can also use the generic LiDAR odometry module to + build 2D maps from range finder (2D scanners). + + Just set the ``PIPELINE_YAML`` environment variable pointing to the 2D mapping pipeline (`lidar2d.yaml `_) + shipped with the ``mola_lidar_odometry`` package: + + .. code-block:: bash + + MOLA_LIDAR_TOPIC=/scan1 \ + PIPELINE_YAML=$(ros2 pkg prefix mola_lidar_odometry)/share/mola_lidar_odometry/pipelines/lidar2d.yaml \ + MOLA_GENERATE_SIMPLEMAP=true \ + MOLA_SIMPLEMAP_OUTPUT=myMap.simplemap \ + mola-lo-gui-rosbag2 /path/to/your/dataset.mcap + + Remember to change ``/scan1`` to your actual topic name of type ``sensor_msgs/LaserScan``. + .. hint:: diff --git a/docs/source/solutions.rst b/docs/source/solutions.rst index ed73383..2b5ee2a 100644 --- a/docs/source/solutions.rst +++ b/docs/source/solutions.rst @@ -28,7 +28,7 @@ This functionality is provided by: - **Geo-referencing** metric maps with consumer-grade GNSS sensors. See: :ref:`geo-referencing`. - Off-line **loop closure** for consistent global maps. (TO-DO: Write docs!) -- ``mola_3d_lidar_slam``: (Coming soon!) +- ``mola_3d_mapper``: Full SLAM solution. (Coming soon!) .. image:: https://mrpt.github.io/imgs/kaist01_georef_sample.png @@ -42,7 +42,7 @@ This functionality is provided by: Build **georeferenced** consistent global 2D maps from 2D LiDARs. This functionality is provided by: -- ``mola_2d_lidar_slam``: (Coming soon!) +- ``mola_2d_mapper``: Full SLAM solution for 2D LiDARs. (Coming soon!) |