cartographer学习（3）——跑自己的数据RPLidar

cartographer学习（3）——跑自己的数据RPLidar

1 雷达驱动包

mkdir RPLidar 
cd RPLidar 

创建雷达工作空间

mkdir -p rplidar_ws/src
cd rplidar_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：http://www.slamtec.com/cn/Support#rplidar-a-series

github地址：https://github.com/slamtec/rplidar_ros

编译

catkin_make

运行

source devel/setup.bash
roslaunch rplidar_ros test_rplidar.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rplidar.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 rplidar.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/rplidar.rviz" />
 
</launch>

在…/src/cartographer_ros/cartographer_ros/configuration_files新建一个rplidar.lua文件：

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  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

再编译一次cartographer：

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

3 运行cartographer跑rplidar

在rplidar_ws工作空间下运行：

source devel/setup.bash
roslaunch rplidar_ros rplidar.launch 

新开一个终端，在cartographer_ws工作空间下运行：

source devel/setup.bash
roslaunch cartographer_ros rplidar.launch 

这样就简单的使用一个便宜的rplidar A2\A1 跑起了cartographer，后续会涉及到调参。