cartographer学习(2)——跑自己的数据YDLidar
1 雷达驱动包
mkdir YDLidar
cd YDLidar
创建雷达工作空间
mkdir -p ydlidar_ws/src
cd ydlidar_ws/src
catkin_init_workspace
cd ..
catkin_make
去官网下载对应的雷达型号的ros包到刚刚新建的工作空间下的 src 目录中。
官网地址:https://ydlidar.cn/service_support.html
编译
catkin_make
运行
source devel/setup.bash
roslaunch ydlidar_ros_driver lidar_view.launch //可以看见雷达扫描结果出现红色点云
2 cartographer配置文件
在…/src/cartographer_ros/cartographer_ros/launch文件夹下新建一个ydlidar.launch文件:
<launch>
<param name="/use_sim_time" value="false" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename ydlidar.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/ydlidar.rviz" />
</launch>
在…/src/cartographer_ros/cartographer_ros/configuration_files新建一个ydlidar.lua文件:
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER, -- map_builder.lua的配置信息
trajectory_builder = TRAJECTORY_BUILDER, -- trajectory_builder.lua的配置信息
map_frame = "map", -- 地图坐标系的名字
tracking_frame = "laser_frame", -- 将所有传感器数据转换到这个坐标系下
published_frame = "laser_frame", -- tf: map -> laser_frame
odom_frame = "odom", -- 里程计的坐标系名字
provide_odom_frame = true, -- 是否提供odom的tf, 如果为true,则tf树为map->odom->footprint
-- 如果为false tf树为map->laser_frame
publish_frame_projected_to_2d = false, -- 是否将坐标系投影到平面上
--use_pose_extrapolator = false, -- 发布tf时是使用pose_extrapolator的位姿还是前端计算出来的位姿
use_odometry = false, -- 是否使用里程计,如果使用要求一定要有odom的tf
use_nav_sat = false, -- 是否使用gps
use_landmarks = false,
num_laser_scans = 1, -- 是否使用单线激光数据
num_multi_echo_laser_scans = 0, -- 是否使用multi_echo_laser_scans数据
num_subdivisions_per_laser_scan = 1, -- 1帧数据被分成几次处理,一般为1
num_point_clouds = 0, -- 是否使用点云数据
lookup_transform_timeout_sec = 0.2, -- 查找tf时的超时时间
submap_publish_period_sec = 0.3, -- 发布数据的时间间隔
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1., -- 传感器数据的采样频率
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
再编译一次cartographer:
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
3 运行cartographer跑ydlidar
在ydlidar_ws工作空间下运行:
source devel/setup.bash
roslaunch ydlidar_ros_driver X2.launch
新开一个终端,在cartographer_ws工作空间下运行:
source devel/setup.bash
roslaunch cartographer_ros ydlidar.launch
这样就简单的使用一个便宜的ydlidar X2跑起了cartographer,后续会涉及到调参。