cartographer介绍
这是一个实时同步定位与地图系统(SLAM),提供ROS 系统支持2D 和 3D SLAM(simultaneous localization and mapping)库。
目前,Cartographer 特别注重于 Lidar SLAM,通过社区的贡献和持续开发,我们希望增加更多传感器和平台的支持,增加更多的新特征,比如在预先存在的地图中的 lifelong mapping 和 localizing。
由于集成了 ROS 和来自外部贡献者的支持,Cartographer 已经被用在多个 ROS 支持的机器人平台上了:
- Toyota HSR
- TurtleBots
- PR2
- Revo LDS
Cartographer 2D 算法的详细描述可参考2016年谷歌 ICRA 论文:Real-Time Loop Closure in 2D LIDAR SLAM
在第一时间进行了测试,并授权ExBot转载教程如下:
(专注开源软硬件的学习和应用)
cartographer使用
说明
Cartographer ROS for TurtleBots介绍
这个库通过Cartographer ROS提供针对Turtlebots的Cartographer SLAM
库安装
- 在ubuntu 14.04 + indigo 测试通过,应该在ubuntu 16.04 + Kinetic 也能运行。
# Create a new workspace in 'catkin_ws'. mkdir catkin_ws cd catkin_ws wstool init src # Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies. wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall wstool update -t src # Install deb dependencies. rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y # Build and install. catkin_make_isolated --install --use-ninja source install_isolated/setup.bash
# Install wstool and rosdep. sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build
运行
- 安装完成即Cartographer, Cartographer ROS, and Cartographer ROS’s TurtleBot都已经安装。
- 下载例子包到~/Downloads目录,并测试
# Download the example bag.(下载例子)
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag
# Launch the 2D LIDAR demo.(2D雷达DEMO) roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag # Launch the 2D depth camera demo.(2D深度相机DEMO) roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
Launch the 3D depth camera demo.(3D深度相机DEMO)
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
- launch 文件会自动启动roscore和rviz
视频演示