cartographer建图
跑通官方例程
下载官方bag
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
运行bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/workspace/carto_ws/src/cartographer_paper_deutsches_museum.bag
添加map话题/map
保存地图
如果运行ERROR
ERROR: Unable to load type [cartographer_ros_msgs/FinishTrajectory]. Have you typed 'make' in [cartographer_ros_msgs]?
进入工作空间
source ./install_isolated/setup.bash
停止地图构建
rosservice call /finish_trajectory 0
生成地图文件(后缀为.pbstream)
rosservice call /write_state "{filename: '${HOME}/Downloads/carto_map.pbstream'}"
将地图文件转换为map和yaml文件
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/carto_map -pbstream_filename=${HOME}/Downloads/carto_map.pbstream -resolution=0.05
map文件
yaml文件
image: /home/autobot/Downloads/carto_map.pgm
resolution: 0.05
origin: [-109.515, -75.0479, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
实体小车建图
修改文件revo_lds.lua
include "map_builder.lua"
include "trajectory_builder.lua"options = {map_builder = MAP_BUILDER,trajectory_builder = TRAJECTORY_BUILDER,map_frame = "map",tracking_frame = "laser",published_frame = "laser",odom_frame = "odom",provide_odom_frame = true,publish_frame_projected_to_2d = false,use_pose_extrapolator = true,use_odometry = false,use_nav_sat = false,use_landmarks = false,num_laser_scans = 1,num_multi_echo_laser_scans = 0,num_subdivisions_per_laser_scan = 1,num_point_clouds = 0,lookup_transform_timeout_sec = 0.2,submap_publish_period_sec = 0.3,pose_publish_period_sec = 5e-3,trajectory_publish_period_sec = 30e-3,rangefinder_sampling_ratio = 1.,odometry_sampling_ratio = 1.,fixed_frame_pose_sampling_ratio = 1.,imu_sampling_ratio = 1.,landmarks_sampling_ratio = 1.,
}MAP_BUILDER.use_trajectory_builder_2d = trueTRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65return options
demo_revo_lds.launch
<launch><param name="/use_sim_time" value="true" /><node name="cartographer_node" pkg="cartographer_ros"type="cartographer_node" args="-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename revo_lds.lua"output="screen"><remap from="scan" to="scan" /></node><node name="rviz" pkg="rviz" type="rviz" required="true"args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />"
</launch>
启动雷达
roslaunch delta_lidar delta_lidar.launch
运行与建图
roslaunch cartographer_ros demo_revo_lds.launch
键盘控制运动
python3 keyboard_control.py
保存地图
参考上面
参考文章手持雷达建立2D地图
