cartographer运行实例过程

自己记录一下学习cartographer过程

1.编译好cartographer，不能出现报错

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

 2.运行官方提供的数据包

# Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:= 绝对目录/cartographer_paper_deutsches_museum.bag

 
# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:= 绝对目录/b3-2016-04-05-14-14-00.bag

播放时，开可以看到ros节点名称 

/cartographer_node
/cartographer_occupancy_grid_node
/playbag
/robot_state_publisher
/rosout
/rviz

 话题名

 

/initialpose   /joint_states /move_base_simple/goal是没有用到的 

 查看 /tf_static 

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1432647016
        nsecs: 482139400
      frame_id: "base_link"
    child_frame_id: "horizontal_laser_link" 注释：垂直激光与base的静态变换
    transform: 
      translation: 
        x: 0.1007
        y: 0.0
        z: 0.0558
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1432647016
        nsecs: 482139400
      frame_id: "base_link"
    child_frame_id: "imu_link"     注释：IMU与base的静态变换
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1432647016
        nsecs: 482139400
      frame_id: "base_link"
    child_frame_id: "vertical_laser_link"  注释：水平激光与base的静态变换
    transform: 
      translation: 
        x: 0.1007
        y: 0.0
        z: 0.1814
      rotation: 
        x: 0.707106665647
        y: 1.22474483074e-07
        z: 0.707106896726
        w: -1.22474523098e-07

 查看动态TF,也提供了通常所说的map to odom, 以及odom to base； 

 /constraint_list

 

 /submap_list

 

跑3D数据包

2D栅格地图的效果： 

运行完之后，离线建图，保存3D地图 ，步骤如下：

先结束建图：通过ros的service 结束轨迹，轨迹可以理解为一次建图过程。

source install_isolated/setup.bash
rosservice call /finish_trajectory 0

• 序列化保存其当前状态：

rosservice call /write_state "{filename: '${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream', include_unfinished_submaps: 'true'}"

 若报错，ERROR: Unable to send request. One of the fields has an incorrect type: field include_unfinished_submaps is not a bool， 则改为：

rosservice call /write_state "{filename: '${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream', include_unfinished_submaps: 1}"

 (1)修改assets_writer_backpack_3d.lua

VOXEL_SIZE = 5e-2  --0.05

include "transform.lua"

options = {
  tracking_frame = "base_link",
  pipeline = {
    {
      action = "min_max_range_filter", --距离过滤器;主要成员min_range_、max_range_;
      min_range = 1.,
      max_range = 60.,
    },
    {
      action = "dump_num_points", --记录输出处理的点数量;主要成员num_points;
    },
    {
      action = "fixed_ratio_sampler",--采样过滤器，控制固定采样频率的点通过;主要成员sampling_ratio;
      sampling_ratio = 0.001,
    },
    {
      action = "intensity_to_color",  --将光强转化为颜色;主要成员min_intensity_、max_intensity_、frame_id_;
      min_intensity = 0.,
      max_intensity = 4095.,
    },
    {
      action = "write_pcd", --存储pcd格式点云;
      filename = "points.pcd",
    },

    -- Gray X-Rays. These only use geometry to color pixels.
    {
      action = "write_xray_image", --存储切片透明图片;主要成员voxel_size;
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all",
      transform = XZ_TRANSFORM,
    },

    -- Now we recolor our points by frame and write another batch of X-Rays. It
    -- is visible in them what was seen by the horizontal and the vertical
    -- laser.
    {
      action = "color_points",  --根据frame_id给点云添加颜色;主要成员color、frame_id;
      frame_id = "horizontal_vlp16_link", 
      color = { 255., 0., 0. },
    },
    {
      action = "color_points",
      frame_id = "vertical_vlp16_link",
      color = { 0., 255., 0. },
    },

    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all_color",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all_color",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all_color",
      transform = XZ_TRANSFORM,
    },
   
  }
}

return options

 修改.lua之后需要重新编译

通过assets_writer将pbstream信息写为三维地图 

$ roslaunch cartographer_ros assets_writer_backpack_3d.launch bag_filenames:='${HOME}/Downloads/b3-2016-04-05-14-14-00.bag' pose_graph_filename:='${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream'

离线等待一段时间，由包的数据大小确定 

 大约几分钟之后：

 可以在包和pbstream的目录下看到有六张png地图。

 经过此包得到的二维图

 得到3维点云地图

 2.同理，在跑二维数据集时，获取pbstream

通过以下命令则能够将pbstream转为map的pgm和yaml格式的地图

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag -pbstream_filename=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream -resolution=0.05