速腾16线激光雷达（RS-Hellos-16P）在Ubuntu20.04运行Cartographer（超详细）

在上篇博客对Ubuntu20.04+ ros-noetic 安装cartographer基础上，本文介绍如何利用雷达数据进行Cartographer建图

一、Ubuntu20.04下调试（ROS-neotic)

1.1进入设置界面，选择 网络->有线连接

1.2 设置IP和DNS：

1.3 查看与测试：

 使用 ip a 查看是否修改成功：

使用ping命令测试，下图结果显示 连接成功：

1.4.4 下载驱动

官方连接：GitCode - 开发者的代码家园

1.4.1 将代码下载到robosense_ws空间。

mkdir -p robosense_ws/src  //
cd robosense_ws/src
git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git
cd rslidar_sdk
git submodule init  //下载子模块
git submodule update

1.4.2 在robosense_ws文件夹中更改config.yaml文件的雷达类型为 RSHELIOS_16P 。

编译执行（更改文件后catkin）

    cd robosense_ws
    catkin_make
    source ./devel/setup.bash  //启动都需source
    roslaunch rslidar_sdk start.launch  //启动雷达

 

二、下载pointcloud_to_laserscan包实现三维转二维

2.1 安装 pointcloud_to_laserscan包

cd ~/robosense_ws/src  
git clone https://github.com/BluewhaleRobot/pointcloud_to_laserscan.git
cd ~/robosense_ws
catkin_make  //更改后须catkin

2.2 创建launch文件

用VScode打开robosense_ws：

code robosense_ws

在launch文件夹下 创建point_to_scan.launch，添加代码如下：

<?xml version="1.0"?>
 
<launch>
 
    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
 
        <remap from="cloud_in" to="/rslidar_points"/>
        
        <rosparam>
            # target_frame: rslidar # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -0.4
            max_height: 1.0
 
            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # 0.17degree
            scan_time: 0.1
            range_min: 0.2
            range_max: 100
            use_inf: true
            inf_epsilon: 1.0
 
            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
 
    </node>
 
</launch>

三 、 修改cartographer相关文件

3.1 创建rs16_lidar.lua文件：

cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files
cp revo_lds.lua rs16_lidar.lua  //复制
gedit rs16_lidar.lua  //打开文件

 

修改rs16_lidar.lua内容如下：

3.2 创建cartographer_demo_rs16.launch文件：

cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch
cp demo_revo_lds.launch cartographer_demo_rs16.launch

修改cartographer_demo_rs16.launch文件内容：

<launch>
  <param name="/use_sim_time" value="false" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename rs16_lidar.lua"
      output="screen">
    <remap from="scan" to="/scan" />
  </node>
  
  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.45 0 0.0 0.0 map rslidar 100" />

  <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" />
</launch>

 

 

四、启动建图

终端1：启动3d雷达驱动

cd robosense_ws
catkin_make //编译
source ./devel/setup.bash
 
roslaunch rslidar_sdk start.launch

终端2： 启动pointcloud_to_laserscan节点

cd ~/robosense_ws
source devel/setup.bash
roslaunch pointcloud_to_laserscan point_to_scan.launch

终端3：启动Cartographer

cd ~/catkin_cartographer
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
roslaunch cartographer_ros cartographer_demo_rs16.launch

 原神启动：