Cartographer is a classic Lidar SLAM framework. It provides the main algorithm and the ros-wrapper separately, cartographer and cartographer_ros respectively.
However it's not convenient to debug the cartoghrapher algorithm, since it has many submodules running in an asynchronous manner. To overcome this problem, cartographer designed a metrics factory which can provide a mechanism to publish internal state variables when needed.
We utilize this mechanism, and implement this metrics reader to observe state variable in an easier way.
python read_metrics.py
python read_metrics_cli.py
You can add metrics filter through -f option. Please refer to the help message for more options
usage: read_metrics_cli.py [-h] [--window_size WINDOW_SIZE]
[--lookup_interval LOOKUP_INTERVAL]
[--dump_dir DUMP_DIR]
[--filters FILTERS [FILTERS ...]]
Plot Cartographer Metrics
optional arguments:
-h, --help show this help message and exit
--window_size WINDOW_SIZE, -s WINDOW_SIZE
How long the monitor window will be.
--lookup_interval LOOKUP_INTERVAL, -i LOOKUP_INTERVAL
The period between two service call, unit: sec
--dump_dir DUMP_DIR, -d DUMP_DIR
Folder to save plots to
--filters FILTERS [FILTERS ...], -f FILTERS [FILTERS ...]
filters through metrics name