slam从入门到如土：在Ubuntu18/20中，使用思岚S2L运行cartographer建图

加葱casso

已于 2023-03-09 17:57:05 修改

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于 2021-09-20 15:16:22 首次发布

本文链接：https://blog.csdn.net/bingshuiyuyi/article/details/120391418

版权

Ubuntu18: 0.安装ubuntu18+ROS melodic

melodic/Installation/Ubuntu - ROS Wikihttp://wiki.ros.org/melodic/Installation/Ubuntu

Ubuntu20: 0.安装Ubuntu20+ROS noetic：

noetic/Installation/Ubuntu - ROS Wikihttp://wiki.ros.org/noetic/Installation/Ubuntu

a)sudo rosdep init 出现：ERROR: cannot download default sources list from:https : //http://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.listWebsite may be down.

解决方法：

在终端输入：

sudo gedit /etc/resolv.conf

修改文件：

#把上面的注释掉，前面加个#
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器
#保存

在终端输入：

sudo rosdep init

b)出现错误：ERROR: default sources list file already exists: /etc/ros /rosdep/sources.list.d/20-default.listPlease delete if you wish to re-initialize

在终端输入：

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

c)rosdep update遇到问题;

建议科学上网

1.安装工具：

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

2.创建思岚S2L的工作空间

mkdir -p rplidar_ws/src
cd rplidar_ws/src
git clone https://github.com/Slamtec/rplidar_ros.git
cd ..
catkin_make

3.创建cartographer的工作空间

mkdir cartographer_ws
cd cartographer_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

cd  ~/cartographer_ws/src

#现时ceres最新版本为2.1.使用此版本cartographer编译不过，建议使用1.14.0版本。
#到ceres的github上下载对应版本；下面指令下载最新版，可以自己研究如何编译成功。

git clone https://github.com/ceres-solver/ceres-solver.git
git clone https://github.com/cartographer-project/cartographer.git
git clone https://github.com/cartographer-project/cartographer_ros.git

4.安装cartographer_ros的依赖项

sudo apt-get update
sudo rosdep init
rosdep update
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
sudo apt-get install -y \
  clang \
  cmake \
  g++ \
  git \
  google-mock \
  libboost-all-dev \
  libcairo2-dev \
  libcurl4-openssl-dev \
  libeigen3-dev \
  libgflags-dev \
  libgoogle-glog-dev \
  liblua5.2-dev \
  libsuitesparse-dev \
  lsb-release \
  ninja-build \
  stow 
sudo apt-get install libceres-dev
sudo apt install libgmock-dev

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: cartographer: [libabsl-dev] defined as "not available" for OS version [focal]

解决：package.xml中注释掉 <depend>libabsl-dev</depend>

5.安装abseil-cpp和protobuf库：

a.安装abseil-cpp库

cd ~/cartographer_ws
src/cartographer/scripts/install_abseil.sh

cd abseil-cpp
cd build
cmake -G Ninja \
  -std=c++17 \
  -DABSL_CXX_STANDARD=17 \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  -DABSL_PROPAGATE_CXX_STD=ON \
  ..  
ninja  
sudo ninja install  
cd /usr/local/stow  
sudo stow absl

b.安装protobuf库

cd ~/cartographer_ws
src/cartographer/scripts/install_proto3.sh

cd protobuf  
mkdir build  
cd build  
cmake -G Ninja -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUI-Dprotobuf_BUIL-D_TESTS=OFFLD_TYPE=Release  ../cmake  
ninja  
sudo ninja install

c.安装ceres库

cd ~/cartographer_ws/src/ceres-solver  
mkdir build  
cd build  
cmake .. -G Ninja -DCXX11=ON  
ninja  
sudo ninja install

d.安装cartographer库

cd ~/cartographer_ws/src/cartographer   
mkdir build   
cd build
cmake .. -G Ninja   
ninja   
sudo ninja install

6.编译

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

7.测试：

#下载数据包
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
#运行测试
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag

8.launch和lua文件修改

a）launch文件修改

进入cd ~/cartographer_ws/src/cartographer_ros/cartographer_ros/launch

创建一个launch 文件，命名为S2L.launch（可以复制粘贴后覆盖）

<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 S2L.lua" #此处为修改的文件名称
      output="screen">
    <remap from="scan" to="scan" /> #激光雷达的话题
  </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>

#号内容记得删除

b）lua文件修改

进入 cd ~/cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files

创建一个lua 文件，命名为S2L.lua（可以复制粘贴后覆盖）

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",  #一般默认为这个
  tracking_frame = "laser",  #对应的激光雷达坐标系
  published_frame = "laser",  #同上对应的雷达坐标系
  odom_frame = "odom",  #一般默认为这个
  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

#号内容记得删除

9.重新编译

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

10.运行：

#查看USB接口
ls -l /dev | grep ttyUSB
#给予接口权限
sudo chmod 666 /dev/ttyUSB0
cd rplidar_ws
source devel/setup.bash
roslaunch rplidar_ros rplidar_s2.launch
#新建终端窗口
cd cartographer_ws
source install_isolated/setup.bash
roslaunch cartographer_ros S2L.launch

11.保存地图

#请求/finish_trajectory服务，完成轨迹，不再接收数据：
rosservice call /finish_trajectory 0

#请求/write_state服务，保存当前状态，include_unfinished_submaps报错的话，用”true“：
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream',include_unfinished_submaps: 1}"

#运行cartographer_pbstream_to_ros_map节点，将保存的.pbstream文件转为.pgm和.yaml文件：
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05