gyubeomim

;; 디버깅 단축키
(global-set-key [f8] 'gdb)

;; f9 소스창에서 바로 브레이크포인트 설정
(global-set-key [f9] 'gud-break)

;; shift + f9 키로 gud를 실행한다
(global-set-key [(shift f9)] 'gud-run)

;; f10 라인 실행하고 다음 라인으로

gyubeomim

E0826 20:07:08.828729 29683 rosbag_validate_main.cc:382] Point data (frame_id: "camera_init") has a large gap, largest is 0.102285 s, recommended is [0.0005, 0.05] s with no jitter.
I0826 20:07:08.829001 29683 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "velodyne_points" (frame_id: "camera_init"):
Count: 1178  Min: 0.098179  Max: 0.102285  Mean: 0.100224
[0.098179, 0.098590)                            Count: 1 (0.084890%)    Total: 1 (0.084890%)
[0.098590, 0.099000)                            Count: 0 (0.000000%)    Total: 1 (0.084890%)
[0.099000, 0.099411)                            Count: 0 (0.000000%)    Total: 1 (0.084890%)
[0.099411, 0.099821)                            Count: 0 (0.000000%)    Total: 1 (0.084890%)
[0.099821, 0.100232)           #############    Count: 784 (66.553482%) Total: 785 (66.638367%)
[0.100232, 0.100643)                 #######    Count: 392 (33.276741%) Total: 1177 (99.915108%)
[0.100643, 0.101053)                            Count: 0 (0.00

gyubeomim

<?xml version="1.0" encoding="utf-8"?>

<robot name="test_dyros_model">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

gyubeomim

/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software

gyubeomim

<launch>
  <arg name="trj" default="1" /> 
  <!-- modify here -->
  <arg name="pbstream" default="/media/dyros-data/map_files/pbstream/180831_dyrosvehicle_velo_imu_avm1.bag.pbstream" /> 

  <node pkg="rosservice" type="rosservice" name="finish_trajectory" args="call /finish_trajectory $(arg trj)"/> 
  
  <!-- ed: New Trajectory with relative pose -->
  <node pkg="cartographer_ros" type="cartographer_start_trajectory" name="cartographer_start_trajectory" output="screen" args="
             -configuration_directory $(find cartographer_ros)/configuration_files

gyubeomim

1. <launch>
  <param name="/use_sim_time" value="true" /> 
  <param name="robot_description" textfile="$(find cartographer_ros)/urdf/test_dyros_model.urdf" /> 

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />    
  
  <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" output="screen" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename dyros_settings_test_localization.lua
           -load_state_filename $(arg load_state_filename)">

gyubeomim

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,

gyubeomim

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,

gyubeomim

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,

gyubeomim

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,