rs-lidar-16运行cartographer_ros2d建图

最新推荐文章于 2024-07-01 17:27:33 发布

m0_38013825

最新推荐文章于 2024-07-01 17:27:33 发布

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分类专栏： cartographer_ros_2d 文章标签： cartographer_ros rslidar-16

本文链接：https://blog.csdn.net/m0_38013825/article/details/89486832

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本文介绍了如何利用cartographer_ros2d结合rslidar-16进行建图。首先确保安装了rslidar驱动和point_to_laserscan工具。接着，详细说明了需修改cartographer_ros下的configuration_files/revo_lds.lua文件，将'horizontal_laser_link'更改为激光雷达的实际frame_id，如'rslidar'，并检查tf_tree正确性。此外，还需修改demo_revo_lds.launch文件，确保scan节点映射正确。完成修改后，在catkin_w目录下编译，然后分别运行相关程序，最终在rviz中可看到建图结果。

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1.前提：安装好rslidar相关驱动，安装好point_to_laseerscan将点云数据转换成单线激光。

2.修改cartographer下的文件，
2.1 修改catkin_w/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua，

-- Copyright 2016 The Cartographer Authors -- -- Licensed under the Apache License, Version 2.0 (the "License"); -- you may not use this file except in compliance with the License. -- You may obtain a copy of the License at -- -- http://www.apache.org/licenses/LICENSE-2.0 -- -- Unless required by applicable law or agreed to in writing, software -- distributed under the License is distributed on an "AS IS" BASIS, -- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -- See the License for the specific language governing permissions and -- limitations under the License. 
include "map_builder.lua" 
include "trajectory_builder.lua" 
options = {
 map_builder = MAP_BUILDER,
 trajectory_builder = TRAJECTORY_BUILDER,
 map_frame = "map",
 tracking_frame = "horizontal_laser_link",
 published_frame = "horizontal_laser_link", 
odom_frame = "odom",
 provide_odom_frame = true,
 publish_frame_projected_to_2d = false, 
use_pose_extrapolator = true, use_odometry = false, use_nav_sat =