cartographer + ydlidar-x2建图实现
ubuntu20.04(noetic) 安装 cartographer
根据雷达手册安装雷达驱动
1.修改 demo_revo_lds.launch 文件
文件路径为:“工作空间”/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch
原文件内容为:
<launch>
<param name="/use_sim_time" value="true" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename revo_lds.lua"
output="screen">
<remap from="scan" to="horizontal_laser_2d" />
</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/demo_2d.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
将最后一个节点<node name="playbag" pkg="rosbag" type="play" args="--clock $(arg bag_filename)" />
注释掉
2.修改 revo_lds.lua 文件
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 = 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
ydlidar X2发布的话题名为 laser_frame,相应的,我们在此处将
tracking_frame = "horizontal_laser_link",
published_frame = "horizontal_laser_link",
修改为:
tracking_frame = "laser_frame",
published_frame = "laser_frame",
3.重新编译工作空间
catkin_make_isolated --install --use-ninja
如果显示连接 cartographer_ros 失败,将 build_isolated 文件夹删除后重新进行编译即可。
4.开始测试
1.启动雷达节点相关的 launch 文件
roslaunch ydlidar_ros_driver X2.launch
再运行 cartographer 框架
roslaunch cartographer_ros demo_revo_lds.launch
启动成功