~>cartographer是部署在tx2上的,接下来所有内容都是基于tx2的。
1、文件结构
在catkin_ws下有7个文件夹:
- 属于ros的src *
- cartographer
- cartographer_ros *
- cartographer_ros *
- cartographer_ros
- configuration_files *
- launch *
- scripts
- urdf *
- cartographer_ros_msgs
- cartographer_rviz
- docs
- jenkins
- scripts
- 其他文件
- cartographer_ros *
- ceres_solver
- 属于ros的build
- 属于ros的devel
- 必要包protobuf
- 属于cartographer的build_isolated
- 属于cartographer的devel_isolated
- 属于cartographer的install_isolated *
- bin
- include
- lib
- share *
- cartographer
- cartographer_ros *
- cartographer_ros
- configuration_files *
- launch *
- urdf *[1]
- cartographer_ros_msgs
- cartographer_rviz
- common
- common-lisp
- gennodejs
- rosrues
改动范围主要是*
2、配置lua文件
2d配置文件位置~> /home/nvidia/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_2d.lua
3d配置文件位置~> /home/nvidia/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_3d.lua
21行 map_frame = "map", 这个不需要修改,默认即可
22行 tracking_frame = "imu", 这个是你自己包的imu话题的frame_id,注意没有斜杠,你录得包最好也没有斜杠,不然会被转义为大写字母
23行 published_frame = "lidar_mid", 这个是你自己包的雷达话题的frame_id,斜杠问题同上
25行 provide_odom_frame = false, 没有里程计的话这个改为false
30行 num_laser_scans = 0, 配置为0代表3dÿ