Parse pbstream file from Google Cartographer

A collection of tools to work with Google cartographer's pbstream map file. This is a work in progress.

How to build

Clone this to a catkin workspace

catkin build read_calibrated

This project uses some internal headers from cartographer, so it expects that you have cartographer repository cloned somewhere in your system. The current CMakeLists.txt assumes this repository is in the same workspace as cartographer. If this is not the case, change cartographer_INCLUDE_INTERNAL_DIRS in CMakeLists.txt file to reflect the true location.

It also needs Protobuf library.

How to run

There are 3 executables

• read_calibrated_node reads out IMU calibration and GPS offset results
• read_calibrated_filter filters out submaps in the trajectory ID supplied, whose submap ID is in the range supplied by a yaml file
• read_calibrated_convert converts one trajectory's poses to a ROS bag file