gmapping静态建图需要满足以下几个条件
基于Ubuntu16.04 ros Kinect
一、发布 “/odom”:
- 启动小车odom节点(待实现);
- 模拟发布:
rostopic pub -r 10 /odom nav_msgs/Odometry '{pose: {pose: {position: {x: 0, y: 0, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 0}}}, twist: {twist: {linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}}}'
二、发布"/scan":
启动激光雷达驱动节点,本文使用的是杉川的delta-2A激光雷达,价格比较便宜,将其配套的ros功能包安装好在自己的工作空间,输入一下命令启动激光雷达驱动节点即可:
sudo chmod 777 /dev/ttyUSB0 && rosrun delta_lidar delta_lidar_node
三、发布tf:
为了使gmapping能够知道odom、map、base_link之间的关系,需要发布相应的tf,且本文为了简化认为激光雷达安装在base_link坐标系原点,无需转换;
各个坐标系原点含义:
1、base_link:机器人位置、激光雷达位置
2、odom:里程计安装位置
1、发布 base_link—>map坐标转换的实现步骤 :
- 发布“/cmd_vel”用以描述车体运动状态,本文使用模拟发布
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}'
- 订阅“/cmd_vel”,使用以下回调函数计算机器人位置到map坐标系下的转换,发布base_link—>map坐标转换:
void VelCallback(const geometry_msgs::TwistPtr& vel)
{
// linear change
x = x+vel->linear.x;
y = y+vel->linear.y;
z = z+vel->linear.z;
// angular change
roll = roll+vel->angular.x/pi*180;
pit = pit+vel->angular.y/pi*180;
yaw = yaw+vel->angular.z/pi*180;
// transform between odom and base_link
tf::Transform trans;
trans.setOrigin(tf::Vector3(x,y,z));
tf::Quaternion q;
q.setRPY(roll,pit,yaw);
trans.setRotation(q);
//send transform map --- parent frame , base_link --- child frame
tfbrd_.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"map","base_link")); //base_link
rate.sleep();
}
2、参照base_link的方式,发布odom—>map坐标转换
3、最终tf呈现的发布效果
四、按照实际情况修改好gmapping的启动文件参数后,启动gmapping
launch启动文件参考书籍资料:《ROS机器人开发实践》,感兴趣的可以去GitHub下载:
git clone https://github.com/huchunxu/ros_exploring.git
- gmapping.launch
<launch>
<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">
<param name="odom_frame" value="odom"/>
<param name="map_update_interval" value="5.0"/>
<!-- Set maxUrange < actual maximum range of the Laser -->
<param name="maxRange" value="5.0"/>
<param name="maxUrange" value="4.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.5"/>
<param name="angularUpdate" value="0.436"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="80"/>
<param name="xmin" value="-1.0"/>
<param name="ymin" value="-1.0"/>
<param name="xmax" value="1.0"/>
<param name="ymax" value="1.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
- gmapping_demo.launch
<launch>
<include file="$(find mrobot_navigation)/launch/gmapping.launch"/>
<!-- 启动rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mrobot_navigation)/rviz/gmapping.rviz"/>
</launch>
- 输入运行命令
roslaunch mrobot_navigation gmapping_demo.launch
五、建图完成
- 认为建图完成后,将图保存到/home/kiltto/develop/mapSave/目录,命名为“xxx”:
rosrun map_server map_saver -f /home/kiltto/develop/mapSave/xxx
六、使用地图:
rosrun map_server map_server /home/kiltto/develop/mapSave/xxx.yaml