关于SLAM系统中ROS系统的使用

啊yang

已于 2023-12-22 10:57:33 修改

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分类专栏：自动驾驶与机器人中SLAM技术学习文章标签：学习

于 2023-12-21 21:03:44 首次发布

本文链接：https://blog.csdn.net/m0_52028411/article/details/135140308

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SLAM系统中使用ROS系统的学习

我学习的时候主要FAST-LIO为例。

文章目录

SLAM系统中使用ROS系统的学习

1. ROS系统工作空间

ROS系统的工作空间下共有4个目录：

build : 编译空间，存储工作空间编译过程中产生的缓存信息和中间文件
devel: 开发空间，存放编译生成的可执行文件
install: 安装空间，（非必须）可选择安装
src : 代码空间，存放所有ROS功能的源码文件，一个个功能包

1.1 创建不包含任何功能的目录空间

mkdir -p test_ws/src
cd test_ws/src
cd ..
catkin_make

运行上述命令后，ROS工作空间如下：
不包含功能包的ROS工作空间

2. 代码空间内容

下面说明代码空间src目录 的相关内容，也即撰写代码所在位置，也即所有功能包所在位置。
在运行 catkin_make 命令构建ROS软件包前后，代码空间src目录 如下所示：

src
|—功能包1
|—功能包2
|—功能包…

上面是前，下面是后

src
|—功能包1
|—功能包2
|—功能包…
CMakeLists.txt

2.1 空的功能包

一个空的功能包包含 package.xml 和 CMakeLists.txt 两份文件，src 和 include/功能包名 两个目录，分别表示：

include/功能包名 : 空目录，存放辅助程序
src : 空目录，存放主程序
package.xml : 提供功能包元信息（描述功能包，辅助创建ROS空间）
CMakeLists.txt : 记录功能包编译规则

2.1.1 创建空的功能包

cd src
# catkin_create_pkg 功能包名 功能包所需依赖1 功能包所需依赖2 功能包所需依赖3 ...
catkin_create_pkg learn_test std_msgs rospy roscpp

运行上述命令后，代码空间 src 内容如下：
空功能包代码空间

2.2 功能包中文件说明

下面对功能包中的文件进行说明，以FAST-LIO程序为例。感谢开源工作者的分享。

2.2.1 `package.xml` 文件说明

FAST-LIO程序的 package.xml 文件内容和说明如下：

<?xml version="1.0"?>
<!--package package.xml文件开头-->
<package>
  <!--name 软件包的名称 -->
  <name>fast_lio</name>
  <!--ersion 软件包的版本号 -->
  <version>0.0.0</version>
  <!--deccription 软件包的描述 -->
  <description>
    This is a modified version of LOAM which is original algorithm
    is described in the following paper:
    J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
      Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
  </description>
  <!--maintainer 负责维护软件包的人的信息 -->
  <maintainer email="dev@livoxtech.com">claydergc</maintainer>
  <!--license 软件包使用的许可证 -->
  <license>BSD</license>
  <!--url 软件包的网址 -->
  <url>https://github.com/hku-mars/FAST_LIO</url>
  <!--author 软件包的作者 -->
  <author email="zhangji@cmu.edu">Ji Zhang</author>
  <!--buildtool_depend 构建软件包时所依赖的构建工具 -->
  <buildtool_depend>catkin</buildtool_depend>
  <!--build_depend 在构建软件包时需要的依赖关系 -->
  <build_depend>geometry_msgs</build_depend>
  <build_depend>nav_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>tf</build_depend>
  <build_depend>pcl_ros</build_depend>
  <!-- livox_ros_driver软件包是fast_lio软件包的依赖，同时也是当前ROS空间内需要构建的软件包 -->
  <!-- 这种同一空间下不同软件包的依赖关系需要在package.xml文件中说明 -->
  <!-- 执行catkin_make命令在代码空间中生成的CMakeLists.txt文件依赖于package.xml文件内的信息 -->
  <build_depend>livox_ros_driver</build_depend>
  <build_depend>message_generation</build_depend>
  <!--run_depend 在运行软件包时需要的依赖关系 -->
  <run_depend>geometry_msgs</run_depend>
  <run_depend>nav_msgs</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>tf</run_depend>
  <run_depend>pcl_ros</run_depend>
  <run_depend>livox_ros_driver</run_depend>
  <run_depend>message_runtime</run_depend>
  <!--test_depend 在运行（部署）软件包测试时需要的依赖关系 -->
  <test_depend>rostest</test_depend>
  <test_depend>rosbag</test_depend>
  <!--export 允许软件包导出特定的配置信息，如插件、启动文件等-->
  <export>
  </export>
<!--/package package.xml文件结尾-->
</package>

对于同一ROS空间下不同软件包之间的依赖关系需要在package.xml 文件中说明。

2.2.2 `launch` 文件说明

launch文件存放在功能包目录下的launch目录中，下面取FAST-LIO程序中mapping_mid360.launch文件和LOAM-Livox程序中 rosbag_largescale.launch 文件进行说明，首先是mapping_mid360.launch文件：

<!--launch launch文件的开头-->
<launch>
<!-- Launch file for Livox MID360 LiDAR -->
    <!--arg：argument的简写，表示参数 -->
    <!--类似于launch文件内部的局部变量，仅限于launch文件内使用，便于launch文件的重构，与ROS节点内部的实现没有关系 -->
    <!--使用方法如下，调用时： $(arg arg-name)-->
	<arg name="rviz" default="true" />
    <!--rosparam：用来加载yaml文件中的参数 -->
    <!--file为所要加载的yaml文件，$(find fast_lio)为指定功能包的路径 src/fast_lio（功能包名） -->
    <!--command为所需要执行的操作，load（需要设置为load）表示加载yaml文件中的内容 -->
    <!--ns为所加载参数的命名空间，可以不设置，指向common -->
	<rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" />
    <!--param：parameter的简写，表示参数 -->
    <!--是ROS系统运行中的参数，launch文件执行后，加载到参数服务器中 -->
    <!--参数由三部分组成：name参数名、type参数类型、value参数值 -->
    <!--在launch文件中调用方式为：$(param param-name) -->
    <!--在C语言文件中获取方式：nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false);第三个false为默认值，找不到则赋值为此 -->
    <!--在C语言文件中获取方式：std::string param_value; nh.getParam("/my_node/param_name", param_value)); -->
	<param name="feature_extract_enable" type="bool" value="0"/>
	<param name="point_filter_num" type="int" value="3"/>
	<param name="max_iteration" type="int" value="3" />
	<param name="filter_size_surf" type="double" value="0.5" />
	<param name="filter_size_map" type="double" value="0.5" />
	<param name="cube_side_length" type="double" value="1000" />
	<param name="runtime_pos_log_enable" type="bool" value="0" />
	<!--node：启动ROS节点，是启动文件的核心（非主要参数在后面例子中说明） -->
	<!--主要参数由三部分组成：pkg定义节点所在的功能包名称，type定义节点的可执行文件名称，name定义节点运行的名称 -->
	<!--tyep参数说明：type参数定义的可执行文件名需要能够在 devel/lib/fast_lio（功能包名） 文件夹下找到 -->
	<!--可执行文件的生成指令在CMakeLists.txt文件夹内容： -->
	<!--add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp) -->
    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> 
    <!--group用于将多个节点、参数、命名空间放在一起 -->
    <!--可以定义命名空间：<group ns="robot1"> -->
	<group if="$(arg rviz)">
		<!--node：启动ROS节点 -->
		<!--launch-prefix用于在启动节点时添加前缀，对节点进行限制或修饰 -->
		<!--args为启动节点需要输入的参数 -->
		<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
	</group>
<!--/launch launch文件的结尾-->
</launch>

接下来是rosbag_largescale.launch 文件：

<launch>
    <rosparam command="load" file="$(find loam_livox)/config/performance_precision.yaml" />
    <!--$(env HOME)命令可以找到当前环境的home目录，$(env HOME)/Loam_livox=～/Loam_livox -->
    <param name="common/pcd_save_dir" type="string" value="$(env HOME)/Loam_livox" />
    <param name="common/log_save_dir" type="string" value="$(env HOME)/Loam_livox" />
    <param name="common/loop_save_dir" type="string" value="$(env HOME)/Loam_livox" />

    <param name="common/if_verbose_screen_printf" type="int" value="1"/>

    <param name="feature_extraction/mapping_line_resolution" type="double" value="0.05"/>
    <param name="feature_extraction/mapping_plane_resolution" type="double" value="1.2"/>

    <node pkg="loam_livox" type="livox_scanRegistration" name="livox_scanRegistration">
    	<!--将话题重映射，重映射不会影响原话题的存在 -->
    	<!--重映射只在运行时生效，不会修改节点源代码或修改ROS图形（Graph）中的话题名。-->
    	<!--原始话题 "/laser_points_0" 仍然存在于ROS系统中，但节点 "livox_scanRegistration" 在运行时连接到 "/livox/lidar"。-->
        <remap from="/laser_points_0" to="/livox/lidar" />
    </node>

	<!--output="screen"：将节点的标准输出打印到最终屏幕上，默认输出为日志文件 -->
	<!--respawn="true"：复位属性，该节点停止时，会自动启动，默认为false（一般用不到） -->
	<!--required="true"：必要节点，当该节点终止时，launch文件中的其他节点也被终止 -->
	<!--ns="namespace"：命名空间，对该节点内相对名称添加命名空间前缀 -->
	<!--args="arguments"：节点需要的输入参数 -->
    <node pkg="loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen" />

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_livox)/rviz_cfg/rosbag.rviz" />
    </group>

</launch>

不同的 launch 文件之间也可以存在调用关系：

	<include file="$(find fast_lio)/launch/other.launch"/>

在ROS空间中启动节点=执行某一个（或多个）C语言程序，launch文件的核心作用就是链接ROS节点和可执行程序，可执行程序生成方式在CMakeLists.txt文件中定义生成，如下：

add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})

最后可执行程序会生成在开发空间devel目录下devel/lib/fast_lio 最后为功能包名称：
可执行程序生成位置

2.2.3 `CMakeLists.txt` 文件说明

在执行catkin_make命令后，代码空间src目录下会生成一个CMakeLists.txt文件，这个文件的作用是赋值ROS空间的编译，是根据功能包生成的，虽然意义重大，但对于SLAM开发意义不大。
在每个功能包中都会有CMakeLists.txt文件，下面以FAST-LIO功能包中的CMakeLists.txt文件为例进行说明：

cmake_minimum_required(VERSION 2.8.3)
project(fast_lio)

SET(CMAKE_BUILD_TYPE "Debug")

ADD_COMPILE_OPTIONS(-std=c++14 )
ADD_COMPILE_OPTIONS(-std=c++14 )
set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )

add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")

message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
  include(ProcessorCount)
  ProcessorCount(N)
  message("Processer number:  ${N}")
  if(N GREATER 4)
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM=3)
    message("core for MP: 3")
  elseif(N GREATER 3)
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM=2)
    message("core for MP: 2")
  else()
    add_definitions(-DMP_PROC_NUM=1)
  endif()
else()
  add_definitions(-DMP_PROC_NUM=1)
endif()

find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")

find_package(PythonLibs REQUIRED)
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
# 下面的命令需要和package.xml中 <buildtool_depend>catkin</buildtool_depend> 指令协调使用
# 作用是：找到所需要的ROS中宏和功能包
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  std_msgs
  pcl_ros
  tf
  livox_ros_driver
  message_generation
  eigen_conversions
)

find_package(Eigen3 REQUIRED)
find_package(PCL 1.8 REQUIRED)

message(Eigen: ${EIGEN3_INCLUDE_DIR})

include_directories(
  ${catkin_INCLUDE_DIRS} 
  ${EIGEN3_INCLUDE_DIR}
  ${PCL_INCLUDE_DIRS}
  ${PYTHON_INCLUDE_DIRS}
  include)
# 告诉ROS构建系统有自定义消息文件
# 原始文件存放在功能包中msg目录下
# 生成的文件在开发空间内 devel/include/fast_lio（功能包名）
add_message_files(
  FILES
  Pose6D.msg
)
# 告诉ROS系统生成用于处理自定义消息的C++文件
# 这个自定义消息的依赖有 geometry_msgs 消息包
generate_messages(
 DEPENDENCIES
 geometry_msgs
)
# 告诉ROS系统软件包的依赖关系
# CATKIN_DEPENDS软件包所依赖的其他ROS软件包
# DEPENDS软件包所需要的其他依赖项
# INCLUDE_DIRS软件包所需要的头文件目录，这里没有
# 说明：find_package命名用于查找，catkin_package命令用于声明，二者互不相关但需要配合使用
catkin_package(
  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
  DEPENDS EIGEN3 PCL
  INCLUDE_DIRS
)
# 生成的可执行程序存放在开发空间内 devel/lib/fast_lio（功能包名）
add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})

CMakeLists.txt 文件的其他使用和非ROS情况一致，不多说明。

2.2.4 `yaml`文件说明

yaml文件一般存放在功能包目录下的config目录中，在launch文件中，可以被<rosparam>指令将所有内容以param参数形式加载到ROS空间中，具体操作如下：

	<rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" />

因此，SLAM系统内，可以认为yaml文件就是launch文件中许多的param参数。
yaml文件内的参数可以是整数、浮点数、字符串、布尔等各种类型，格式一般如下：

my_node:
|— param1: 10
|— param2: “hello”
|— …
下面以FAST-LIO程序中的mid360.yaml文件进行说明：

common:
    lid_topic:  "/livox/lidar"
    imu_topic:  "/livox/imu"
    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
    time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
                                  # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0

preprocess:
    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
    scan_line: 4
    blind: 0.5

mapping:
    acc_cov: 0.1
    gyr_cov: 0.1
    b_acc_cov: 0.0001
    b_gyr_cov: 0.0001
    fov_degree:    360
    det_range:     100.0
    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
    extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
    # 向量和数组都是以vector序列的形式存放的 
    # c++程序：nh.param<vector<double>>("mapping/extrinsic_R", extrinR, vector<double>());
    extrinsic_R: [ 1, 0, 0,
                   0, 1, 0,
                   0, 0, 1]

publish:
    path_en:  false
    scan_publish_en:  true       # false: close all the point cloud output
    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

pcd_save:
    pcd_save_en: true
    interval: -1                 # how many LiDAR frames saved in each pcd file; 
                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

yaml文件是比较重要的，一般包含标定的内、外参等，和程序的设计情况相关性很大。

2.2.5 `rviz`文件说明

rviz文件是启动rviz节点时可以作为配置的文件，一般由rviz程序导出，保存在功能包目录下的rviz_cfg目录下。可以在launch文件中引用rviz，配置rviz界面：

<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />

下面是FAST-LIO程序中，rviz文件的具体内容，不重要：

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /mapping1
        - /mapping1/surround1
        - /mapping1/currPoints1
        - /mapping1/currPoints1/Autocompute Value Bounds1
        - /Odometry1/Odometry1
        - /Odometry1/Odometry1/Shape1
        - /Odometry1/Odometry1/Covariance1
        - /Odometry1/Odometry1/Covariance1/Position1
        - /Odometry1/Odometry1/Covariance1/Orientation1
        - /MarkerArray1/Namespaces1
      Splitter Ratio: 0.6432291865348816
    Tree Height: 811
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: surround
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 1
      Cell Size: 1000
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: false
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 40
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/Axes
      Enabled: false
      Length: 0.699999988079071
      Name: Axes
      Radius: 0.05999999865889549
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 238; 238; 236
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Min Color: 238; 238; 236
          Name: surround
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: false
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Points
          Topic: /cloud_registered
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 0.10000000149011612
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 15
            Min Value: -5
            Value: false
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 1000
          Enabled: true
          Invert Rainbow: true
          Max Color: 255; 255; 255
          Min Color: 0; 0; 0
          Name: currPoints
          Position Transformer: XYZ
          Queue Size: 100000
          Selectable: true
          Size (Pixels): 1
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /cloud_registered
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 255; 0; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Min Color: 0; 0; 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.10000000149011612
          Style: Flat Squares
          Topic: /Laser_map
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
      Enabled: true
      Name: mapping
    - Class: rviz/Group
      Displays:
        - Angle Tolerance: 0.009999999776482582
          Class: rviz/Odometry
          Covariance:
            Orientation:
              Alpha: 0.5
              Color: 255; 255; 127
              Color Style: Unique
              Frame: Local
              Offset: 1
              Scale: 1
              Value: true
            Position:
              Alpha: 0.30000001192092896
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: true
          Enabled: true
          Keep: 1
          Name: Odometry
          Position Tolerance: 0.0010000000474974513
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.20000000298023224
            Color: 255; 85; 0
            Head Length: 0
            Head Radius: 0
            Shaft Length: 0.05000000074505806
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic: /Odometry
          Unreliable: false
          Value: true
      Enabled: true
      Name: Odometry
    - Class: rviz/Axes
      Enabled: true
      Length: 0.699999988079071
      Name: Axes
      Radius: 0.10000000149011612
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0
      Buffer Length: 2
      Class: rviz/Path
      Color: 25; 255; 255
      Enabled: true
      Head Diameter: 0
      Head Length: 0
      Length: 0.30000001192092896
      Line Style: Billboards
      Line Width: 0.20000000298023224
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 25; 255; 255
      Pose Style: None
      Radius: 0.029999999329447746
      Shaft Diameter: 0.4000000059604645
      Shaft Length: 0.4000000059604645
      Topic: /path
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 239; 41; 41
      Max Intensity: 0
      Min Color: 239; 41; 41
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 4
      Size (m): 0.30000001192092896
      Style: Spheres
      Topic: /cloud_effected
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 13.139549255371094
        Min Value: -32.08251953125
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 138; 226; 52
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 138; 226; 52
      Min Color: 138; 226; 52
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.10000000149011612
      Style: Flat Squares
      Topic: /Laser_map
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Class: rviz/MarkerArray
      Enabled: false
      Marker Topic: /MarkerArray
      Name: MarkerArray
      Namespaces:
        {}
      Queue Size: 100
      Value: false
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Default Light: true
    Fixed Frame: camera_init
    Frame Rate: 10
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 46.0853271484375
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -4.982542037963867
        Y: -15.83572006225586
        Z: -3.063523054122925
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.399796724319458
      Target Frame: global
      Value: Orbit (rviz)
      Yaw: 1.277182698249817
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1028
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001c800000368fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000368000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004510000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1567
  X: 67
  Y: 24

一般而言，复制粘贴就好。

2.2.6 `msg`文件说明

msg文件是自定义的消息文件，一般存放在功能包目录下的msg目录中，一般根据程序需求设计，下面是FAST-LIO程序中的msg文件内容：

# the preintegrated Lidar states at the time of IMU measurements in a frame
float64  offset_time # the offset time of IMU measurement w.r.t the first lidar point
float64[3] acc       # the preintegrated total acceleration (global frame) at the Lidar origin
float64[3] gyr       # the unbiased angular velocity (body frame) at the Lidar origin
float64[3] vel       # the preintegrated velocity (global frame) at the Lidar origin
float64[3] pos       # the preintegrated position (global frame) at the Lidar origin
float64[9] rot       # the preintegrated rotation (global frame) at the Lidar origin