grid_map（二）：ubuntu16.04安装测试grid_map 1.6.0-1.6.2

一、编译安装

        系统ubuntu16.04、ros-kinetic、gird_map 1.6.0-1.6.2。

1.1 官方github

       GitHub - ANYbotics/grid_map: Universal grid map library for mobile robotic mappingUniversal grid map library for mobile robotic mapping - GitHub - ANYbotics/grid_map: Universal grid map library for mobile robotic mappinghttps://github.com/ANYbotics/grid_map

         ros-kinetic适用grid_map版本：1.6.0--1.6.2

https://github.com/ANYbotics/grid_map/issues/279https://github.com/ANYbotics/grid_map/issues/279

1.2 安装编译

sudo apt-get install ros-kinetic-grid-map

##安装依赖
sudo apt-get install libeigen3-dev

##创建工作空间编译
mkdir -p xxx/grid_map_ws/src
cd grid_map_ws/src
git clone -b 1.6.0 https://github.com/anybotics/grid_map.git

cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release

#catkin_make
#或以Release模式编译（建议以Release模式编译，下面2.7会说明原因）
#catkin_make -DCMAKE_BUILD_TYPE=Release 

        使用1.6.0版本的grid_map编译，不会报错。

        下面是按照官方github的readme.md进行编译的一些报错

1.3 编译踩坑

##git clone默认版本，会报错
git clone https://github.com/anybotics/grid_map.git

1.3.1 编译报错----fatal error: filters/filter_base.hpp: 没有那个文件或目录

        相应修改：

grid_map_ws/src/grid_map/grid_map_cv/include/grid_map_cv/InpaintFilter.hpp 的第十行

#include <filters/filter_base.hpp> 为 #include <filters/filter_base.h>

        此外，结合上次经验，还需要修改：

文件夹grid_map_ws/src/grid_map/grid_map_filters/include/grid_map_filters下几乎所有文件

#include <filters/filter_base.hpp>  或  #include <filters/filter_base.h>

文件grid_map_ws/src/grid_map/grid_map_demos/include/grid_map_demos/FiltersDemo.hpp

#include <filters/filter_chain.hpp>  为#include <filters/filter_chain.h>

文件grid_map_ws/src/grid_map/grid_map_demos/src/normal_filter_comparison_node.cpp

#include <filters/filter_chain.hpp> 为 #include <filters/filter_chain.h>

1.3.2 编译报错----error: ‘class rviz::DisplayContext’ has no member named ‘getTF2BufferPtr’

https://github.com/ANYbotics/grid_map/issues/279https://github.com/ANYbotics/grid_map/issues/279        参考上面的链接，说的是grid_map github仓的默认版本为ubuntu18.04的melodic，上面直接git clone 的版本不适用ubuntu16.04的ros-kinetic。参考链接，将原来git clone的删掉，git clone 1.6.0-1.6.2版本的.

git clone -b 1.6.0 https://github.com/anybotics/grid_map.git

1.4 安装测试

        适用catkin_make编译的（我用的）

source devel/setup.bash
catkin_make run_tests_grid_map_core run_tests_grid_map_ros

        测试成功：

         适用catkin tools的

catkin build grid_map --no-deps --verbose --catkin-make-args run_tests

二、应用demo

##进入工作空间，并source一下
cd grid_map_ws/
source devel/setup.bash

2.1 simple demo

  roslaunch grid_map_demos simple_demo.launch

 2.2 tutorial demo

  roslaunch grid_map_demos tutorial_demo.launch

2.3 iterators_demo

  roslaunch grid_map_demos iterators_demo.launch

 2.4 image to gridmap demo

  roslaunch grid_map_demos image_to_gridmap_demo.launch

 2.5 opencv demo

  roslaunch grid_map_demos opencv_demo.launch

 

        视频链接：https://www.bilibili.com/video/BV1gF411J78D/https://www.bilibili.com/video/BV1gF411J78D/

2.6 resolution change demo

  roslaunch grid_map_demos resolution_change_demo.launch

        视频链接：

https://www.bilibili.com/video/BV1oL4y1W7rc/https://www.bilibili.com/video/BV1oL4y1W7rc/

2.7 filter demo

  roslaunch grid_map_demos filters_demo.launch

filters_demo uses a chain of ROS Filters to process a grid map. Starting from the elevation of a terrain map, the demo uses several filters to show how to compute surface normals, use inpainting to fill holes, smoothen/blur the map, and use math expressions to detect edges, compute roughness and traversability. The filter chain setup is configured in the filters_demo_filter_chain.yaml file。

filters_demo使用一系列的ros过滤器来处理栅格地图。

这个演示从地形图的高程图开始，使用一些列的过滤器来展示，如何计算曲面法线、修补填充孔洞、平滑/模糊地图、使用数学表达式来检测边缘、计算粗糙度和可通行度。

过滤器链设置配置在filters_demo_filter_chain.yaml文件中

        第一次直接正在终端roslaunch，rviz中会显示空白，如下；大概是需要在

         查看readme.md的grid_map_filters篇幅，好像是需要在filters_demo_filter_chain.yaml里面配置不同的过滤器，所以这里显示空白。

        查看系统情况，如下图：8核cpu只有两个满了，16GB运存用了20%多一些，应该不是cpu和内存的问题。

        查看话题：

[meng@meng ~/my_learning/grid_map_ws]$ rostopic list 
/clicked_point
/grid_map_filter_demo/filtered_map
/grid_map_visualization/surface_normals
/grid_map_visualization/traversability_grid
/image_publisher/image
/image_to_gridmap_demo/grid_map
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

        其中图像话题可以用：rqt_image_view直接查看：

        唉，可能就是下面链接说的rviz 插件可视化的问题、没有用RELEASE MODE编译问题等等。

https://github.com/ANYbotics/grid_map/issues/167https://github.com/ANYbotics/grid_map/issues/167https://github.com/ANYbotics/grid_map/issues/184https://github.com/ANYbotics/grid_map/issues/184

         这里先尝试最简单的方法，删除原来使用catkin_make编译的文件夹，使用RELEASE MODE编译，就通过了~

catkin_make -DCMAKE_BUILD_TYPE=Release 

         normal mapping：正常建图

       Elevation：高程图，立视图 

        Edge：边缘

        roughness：粗糙度

        traversability：可通行度

         surface normal:表面法向量