运行cartographer的landmark demo与建立发布静态landmark节点

官网链接：Running Cartographer ROS on a demo bag — Cartographer ROS documentation

1.运行landmark dmeo

1.1 下载数据包

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/mir/landmarks_demo_uncalibrated.bag

1.2 在src下 下载cartographer_mir

cd car2_ws/src
git clone https://github.com/googlecartographer/cartographer_mir.git

1.3 重新编译car2_ws

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

1.4 运行demo：

roslaunch cartographer_mir offline_mir_100_rviz.launch bag_filenames:=${HOME}/Downloads/landmarks_demo_uncalibrated.bag

1.5 运行结果：

 2. 建立发布静态landmark节点

参考链接：cartographer使用landmark_花生啤酒八宝粥的博客-CSDN博客

2.1 创建工作空间和节点

参考链接：如何在ROS中使用VScode创建功能包并编写cpp文件_ros创建.cpp文件命令_舟同学的博客的博客-CSDN博客

2.1.1.创建工作空间

mkdir -p pl/src

2.1.2.编译

catkin_make

2.1.3.创建功能包

cd src
catkin_create_pkg  pub_landmark  roscpp rospy std_msgs

2.2 配置头文件

将~/car2_ws/install_isolated/include/cartographer_ros_msgs下的两个配置文件放入~/pl/src/pub_landmark/include/pub_landmark下

将头文件存在路径加入c_cpp_properties.json文件

 2.3 创建自定义消息类型

1.定义msg文件

功能包下新建 msg 目录，添加文件 LandmarkEntry.msg、LandmarkList.h

 

 

2.编辑配置文件

package.xml中添加编译依赖与执行依赖

 <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

2.4 创建cpp文件

文件内容：

#include "ros/ros.h"
#include "pub_landmark/LandmarkList.h"
#include "pub_landmark/LandmarkEntry.h"
#include "geometry_msgs/Pose.h"
#include "std_msgs/String.h"
#include "std_msgs/Header.h"

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "pub_landmark");
    ros::NodeHandle nh;
    ros::NodeHandle n("~");

    ros::Publisher landmark_pub = n.advertise<cartographer_ros_msgs::LandmarkList>("landmark", 10);

    cartographer_ros_msgs::LandmarkList landmark_0;

    ros::Rate loop_rate(10);
    int count=0;
    while (ros::ok())
    {    
        landmark_0.header.stamp = ros::Time::now();
        landmark_0.header.frame_id = "base_link";
        landmark_0.landmarks.resize(10);

        for(int t=0;t<10;t++)
        {
            std::stringstream ss;
            ss << t;//"landmark_" ;//<< count/ << "_" t;

            landmark_0.landmarks[t].id = ss.str();
            landmark_0.landmarks[t].tracking_from_landmark_transform.position.x = 1.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.position.y = 2.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.position.z = 3.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.orientation.w = 1.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.orientation.x = 0.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.orientation.y = 0.0*t;
            landmark_0.landmarks[t].tracking_from_landmark_transform.orientation.z = 0.0*t;
            landmark_0.landmarks[t].translation_weight = 1.0*t;
            landmark_0.landmarks[t].rotation_weight = 2.0*t;    
        }

        landmark_pub.publish(landmark_0);
        ROS_INFO("%d", count);

        loop_rate.sleep();
        count++;
    }
    
    return 0;
}

2.5 CMakeList.txt文件配置

如下：

cmake_minimum_required(VERSION 3.0.2)
project(pub_landmark)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
  sensor_msgs
)


add_message_files(
  FILES
  LandmarkEntry.msg
  LandmarkList.msg
)


generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
  geometry_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES pub_landmark
 CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)



add_executable(pub src/pub_landmark.cpp)


add_dependencies(pub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


target_link_libraries(pub
  ${catkin_LIBRARIES}
)

2.6 测试发布【与imu、雷达一起发布测试】

节点图：

 效果图：