velodyne(VLP16)+hdl_graph_slam实时建图

Kipupon

于 2024-08-02 10:48:50 发布

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本文链接：https://blog.csdn.net/allone12321/article/details/140866241

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本文旨在记录一下使用VLP16运行hdl_graph_slam实时建图的过程。

（1）按照官方教程安装hdl_graph_slam,附官方地址：https://github.com/koide3/hdl_graph_slam

（2）按照教程安装VLP16驱动，推荐教程：https://blog.csdn.net/Burannnn/article/details/125744682

（3）运行命令，发布雷达话题

roslaunch velodyne_pointcloud VLP16_points.launch

（4）运行 rostopic list 查看雷达话题是否发布成功。

（5）更改 hdl_graph_slam中的launch文件。hdl_graph_slam.launch

<?xml version="1.0"?>
<launch>
  <!-- arguments -->
  <arg name="nodelet_manager" default="velodyne_nodelet_manager" />
  <arg name="enable_floor_detection" default="false" />
  <arg name="enable_gps" default="false" />
  <arg name="enable_imu_acc" default="false" />
  <arg name="enable_imu_ori" default="false" />

  <!-- hdl_graph_slam will publish its estimated pose from odom to base_link within the following structure -->
  <!-- ***** map -> odom -> base_link -> velodyne ***** -->
  <!-- these can be named in the following -->
  <!-- topic for hdl to find velodyne points -->
  <arg name="points_topic" default="/velodyne_points" />
  <!-- what should the map frame be called -->
  <arg name="map_frame_id" default="map" />
  <!-- what should the base link frame be called -->
  <arg name="base_link_frame_id" default="base_link" />
  <!-- what should the odom frame be called -->
  <arg name="lidar_odom_frame_id" default="odom" />

  <!-- hdl_graph_slam will also publish an odom message -->
  <!-- what should the topic be for odom messages published by hdl-graph-slam -->
  <arg name="published_odom_topic" default="/odom" />

  <!-- optional arguments -->
  <arg name="enable_robot_odometry_init_guess" default="false" />
  <arg name="robot_odom_frame_id" default="robot_odom" />

  <!-- transformation between lidar and base_link -->
  <node pkg="tf" type="static_transform_publisher" name="lidar2base_publisher" args="0 0 0 0 0 0 $(arg base_link_frame_id) velodyne 10" />

  <!-- in case you use velodyne_driver, comment out the following line -->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/> 

  <!-- prefiltering_nodelet -->
  <node pkg="nodelet" type="nodelet" name="prefiltering_nodelet" args="load hdl_graph_slam/PrefilteringNodelet $(arg nodelet_manager)">
    <remap from="/velodyne_points" to="$(arg points_topic)" />
    <!-- in case base_link_frame is blank, mapping will be performed in the lidar frame -->
    <param name="base_link_frame" value="$(arg base_link_frame_id)" />
    <!-- distance filter -->
    <param name="use_distance_filter" value="false" />
    <param name="distance_near_thresh" value="0.1" />
    <param name="distance_far_thresh" value="1000.0" />
    <!-- NONE, VOXELGRID, or APPROX_VOXELGRID -->
    <param name="downsample_method" value="VOXELGRID" />

将这里面的<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" output="screen"/>这一行注释掉。

（6）终端运行 roslaunch hdl_graph_slam.launch

(7) 另外打开一个新终端运行 roscore

（8）再打开一个终端运行

roscd hdl_graph_slam/rviz

rviz -d hdl_graph_slam.rviz

OK，可以在rviz中看到雷达点云信息和地图了。