Cartographer（二）使用思岚rplidar雷达进行cartographer建图

一、修改launch文件和lua配置文件

（1）修改revo_lds.lua

到目录下，打开文件

home/meng/xx/catographer_ws/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

修改三个地方，如下有注释的地方，其中--为注释

  tracking_frame = "laser",  --horizontal_laser_link改为laser
  published_frame = "laser",  --horizontal_laser_link改为laser
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = on,  --此处将true改为on

本来按照这篇博客修改了四个地方：

https://blog.csdn.net/qq_38212787/article/details/107771684https://blog.csdn.net/qq_38212787/article/details/107771684第四个地方如下，这里已经给注释掉了，之后在再看看能不能改善：

TRAJECTORY_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-1
--TRAJECTORY_BUILDER.collate_landmarks = on --此处增加

       第四个地方没有注释时会出现以下错误：

[FATAL] [1641048953.081421031]: F0101 22:55:53.000000 25001 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'collate_landmarks' not in dictionary:

省略

*** Check failure stack trace: ***
    @     0x7f7afc98c0cd  google::LogMessage::Fail()
    @     0x7f7afc98df33  google::LogMessage::SendToLog()
    @     0x7f7afc98bc28  google::LogMessage::Flush()
    @     0x7f7afc98e999  google::LogMessageFatal::~LogMessageFatal()
    @     0x5652b60bd25d  (unknown)
    @     0x5652b60bd2ad  (unknown)
    @     0x5652b60bd75f  (unknown)
    @     0x5652b60df1a4  (unknown)
    @     0x5652b609c332  (unknown)
    @     0x5652b6097d90  (unknown)
    @     0x5652b6062134  (unknown)
    @     0x5652b605ff24  (unknown)
    @     0x7f7af86acbf7  __libc_start_main
    @     0x5652b6061dfa  (unknown)
[cartographer_node-1] process has died [pid 25001, exit code -6, cmd /home/elfoot/unmanned_system_2021/catographer_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/elfoot/unmanned_system_2021/catographer_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename revo_lds.lua scan:=scan __name:=cartographer_node __log:=/home/elfoot/.ros/log/0c683a04-6b12-11ec-a2d7-08beac26819a/cartographer_node-1.log].

        抱着试一试的态度将第四个修改注释掉，接下来运行程序便可以出map了；同时说一下，下面这篇博客没有对第四个地方进行注释

https://blog.csdn.net/u014662384/article/details/103332901https://blog.csdn.net/u014662384/article/details/103332901

（2）修改demo_revo_lds.launch

文件地址为：

xx/catographer_ws/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

修改后的launch文件如下：

<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" />   
    <!--horizontal_laser_2d改为scan，这里我的激光雷达发出的时scan单线话题-->
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />   
  <!--删除了一个rosbag play节点-->
</launch>

（3）重新编译

catkin_make_isolated --install --use-ninja

         因为launch文件里面加载了配置文件“configuration_directory”，好像只更改launch文件也需要重新编译

二、使用思岚rplidar雷达进行cartographer建图

（1）启动节点        

        先启动rplidar驱动

cd xxx/RPlidar_ws
source devel/setup.bash
roslaunch rplidar_ros view_rplidar_s1.launch

        后启动cartographer_ros节点

cd xxx/catographer_ws
source install_isolated/setup.bash
roslaunch cartographer_ros demo_revo_lds.launch

（2）建图效果  

       建图效果如下，环境比较简陋，用手举着，在我工位附近