rplidarA2在cartographer建图时遇到的问题

用激光雷达建图的前提是cartographer安装成功，能成功运行数据包。

1.首先安装激光雷达驱动，在工作空间src下运行

     git clone https://github.com/robopeak/rplidar_ros.git

     cd ..

     catkin_make_isolated --install --use-ninja  

这里编译连接的时候报错无法连接cartographer_ros，解决办法将工作空间下的build_isolated文件夹删除，重新编译

2.在每次启动launch文件时，都要在启动前设置环境变量（在工作环境下）

  source ~/catkin_ws/devel_isolated/setup.bsah

  source ~/catkin_ws/install_isolated/setip.bash

或者直接将路径写入bashrc文件中

3.修改demo_revo_lds.launch文件

 文件路径为/home/zhs/catkin_ws/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

    3.1修改前

<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="horizontal_laser_2d" />
  </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" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

 3.2修改后

<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="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>

删除了playbag节点相关内容，之前没删除的时候运行cartographer框架报错。

4. 修改revo_lds.lua文件

文件路径：/home/zhs/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

  4.1 修改前

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "horizontal_laser_link",
  published_frame = "horizontal_laser_link",
  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 = true

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

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

4.2 修改后

只修改了如下两句

tracking_frame = "horizontal_laser_link",
published_frame = "horizontal_laser_link",

改为：

  tracking_frame = "laser",

  published_frame = "laser",

5. 修改后重新编译（工作空间下）

catkin_make_isolated --install --use-ninja

编译的时候遇到问题，显示连接cartographer_ros失败，后删除build_isolated文件夹后重新编译成功。

6. 开始测试

首先启动rplidar的节点launch文件

roslaunch rplidar_ros rplidar.launch

后再运行cartographer框架

roslaunch cartographer_ros demo_revo_lds.launch

打开rivz，启动成功