6.3. Check Local Mapping functionality and plausibility

Especially after changing the camera position, a new camera matrix calibiration script or at the beginning of a testday, one should check functionality and plausibility of the local mapping module.

For doing so you will launch a debugging ros launch file. You will either specify a recorded rosbag or use the zed camera to use live images.

6.3.1. Using a recorded rosbag

  1. Download it and place it inside the as_ros/rosbags folder.

  2. Enter the docker container: docker exec -it as bash

  3. Source the catkin workspace: source devel/setup.bash

  4. Start the local mapping debugging launch file. The command depends whether the rosbags contains compressed or uncompressed images:

    1. Uncompressed images: roslaunch local_mapping local_mapping_debug.launch input_rosbag:=/workspace/as_ros/rosbags/<rosbag_name>.bag

    2. Compressed images: roslaunch local_mapping local_mapping_debug.launch input_rosbag:=/workspace/as_ros/rosbags/<rosbag_name>.bag republish:=yes

    3. If you need to use old camera matrices, you can specify the subdirectory of the camera matrices by appending matrices_subdirectory:=<subdir>

  5. Open the new, recorded rosbag in foxglove and check the visualization of the mapped cones in the 3D Panel for plausibility.

6.3.2. Using live images from the zed camera

  1. Enter the docker container: docker exec -it as bash

  2. Source the catkin workspace: source devel/setup.bash

  3. Start the local_mapping debugging launch file: roslaunch local_mapping local_mapping_debug.launch zed:=yes

    1. If you need to use old camera matrices, you can specify the subdirectory of the camera matrices by appending matrices_subdirectory:=<subdir>

  4. Open foxglove and connect to the live roscore and check the visualization of the mapped cones in the 3D Panel for plausibility.