rplidar使用hector_slam的hector_mapping geotiff创建地图方法(2)

rplidar使用hector_slam的hector_mapping geotiff创建地图方法 （2）

根据上一编的那图步骤，改为使用以下的 launch文件，使用增加里程计的方式创建地图，那一种好本小二还在测试中.....   如有误或更好建议请不吝指点留言

方案二：加入odom_frame 

slam_ho.launch:

<?xmlversion="1.0"?>

 

<launch>

  <paramname="pub_map_odom_transform" value="true"/>

  <param name="map_frame"value="map"/>

  <param name="base_frame"value="base_frame"/>

  <param name="odom_frame" value="odom"/>

 

  <!--node pkg="hokuyo_node"type="hokuyo_node" name="hokuyo_node"/-->

  <node pkg="tf"type="static_transform_publisher" name="map_2_odom"args="0 0 0 0 0 0 /map /odom 100"/>

  <node pkg="tf"type="static_transform_publisher" name="odom_2_base_footprint"args="0 0 0 0 0 0 /odom /ba$

  <node pkg="tf"type="static_transform_publisher"name="base_footprint_2_base_link" args="0 0 0 0 0 0 /bas$

  <node pkg="tf"type="static_transform_publisher"name="base_link_2_base_stabilized_link" args="0 0 0 0 0 $

  <node pkg="tf"type="static_transform_publisher"name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /ba$

  <node pkg="tf"type="static_transform_publisher"name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_f$

  <node pkg="tf"type="static_transform_publisher" name="base_2_nav_link"args="0 0 0 0 0 0 /base_frame /na$

 

  <node pkg="rviz"type="rviz" name="rviz" args="-d $(findhector_slam_launch)/launch/rviz_cfg.rviz"/>

 

  <include file="$(findhector_slam_launch)/launch/default_mapping.launch"/>

  <include file="$(findhector_geotiff)/launch/geotiff_mapper.launch"/>

 

</launch>

 

 

 

 

Default_mapping.launch:

 

<?xmlversion="1.0"?>

 

<launch>

  <argname="tf_map_scanmatch_transform_frame_name"default="scanmatcher_frame"/>

  <arg name="base_frame" default="base_footprint"/>

  <arg name="odom_frame"default="nav"/>

  <argname="pub_map_odom_transform" default="true"/>

  <argname="scan_subscriber_queue_size" default="5"/>

  <arg name="scan_topic"default="scan"/>

  <arg name="map_size"default="2048"/>

 

  <node pkg="hector_mapping"type="hector_mapping" name="hector_mapping"output="screen">

   

    <!-- Frame names -->

    <param name="map_frame"value="map" />

    <param name="base_frame"value="$(arg base_frame)" />

    <param name="odom_frame" value="$(argodom_frame)" />

   

    <!-- Tf use -->

    <paramname="use_tf_scan_transformation" value="true"/>

    <paramname="use_tf_pose_start_estimate" value="false"/>

    <paramname="pub_map_odom_transform" value="$(argpub_map_odom_transform)"/>

   

    <!-- Map size / start point -->

    <param name="map_resolution"value="0.050"/>

    <param name="map_size"value="$(arg map_size)"/>

    <param name="map_start_x"value="0.5"/>

    <param name="map_start_y"value="0.5" />

    <param name="map_multi_res_levels"value="2" />

   

    <!-- Map update parameters -->

    <paramname="update_factor_free" value="0.4"/>

    <paramname="update_factor_occupied" value="0.9" />   

    <paramname="map_update_distance_thresh" value="0.4"/>

    <param name="map_update_angle_thresh"value="0.06" />

    <paramname="laser_z_min_value" value = "-1.0" />

    <paramname="laser_z_max_value" value = "1.0" />

   

    <!-- Advertising config -->

    <paramname="advertise_map_service" value="true"/>

   

    <param name="scan_subscriber_queue_size"value="$(arg scan_subscriber_queue_size)"/>

    <param name="scan_topic"value="$(arg scan_topic)"/>

   

    <!-- Debug parameters -->

    <!--

      <param name="output_timing"value="false"/>

      <param name="pub_drawings"value="true"/>

      <paramname="pub_debug_output" value="true"/>

    -->

    <paramname="tf_map_scanmatch_transform_frame_name" value="$(argtf_map_scanmatch_transform_frame_name)" />

  </node>

   

  <!--<node pkg="tf"type="static_transform_publisher"name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav100"/>-->

</launch>

 

 

Rviz_cfg.rviz:

Panels:

  - Class: rviz/Displays

    Help Height: 78

    Name: Displays

    Property Tree Widget:

      Expanded:

        - /Global Options1

        - /Status1

        -/LaserScan1

        - /Map1

        - /Image1

      Splitter Ratio: 0.5

    Tree Height: 463

  - Class: rviz/Selection

    Name: Selection

  - Class: rviz/Tool Properties

    Expanded:

      - /2D Pose Estimate1

      - /2D Nav Goal1

      - /Publish Point1

    Name: Tool Properties

    Splitter Ratio: 0.588679

  - Class: rviz/Views

    Expanded:

      - /Current View1

    Name: Views

    Splitter Ratio: 0.5

  - Class: rviz/Time

    Experimental: false

    Name: Time

    SyncMode: 0

    SyncSource: ""

VisualizationManager:

  Class: ""

  Displays:

    - Alpha: 0.5

      Cell Size: 1

      Class: rviz/Grid

      Color: 160; 160; 164

      Enabled: true

      Line Style:

        Line Width: 0.03

        Value: Lines

      Name: Grid

      Normal Cell Count: 0

      Offset:

        X: 0

        Y: 0

        Z: 0

      Plane: XY

      Plane Cell Count: 10

      Reference Frame: <Fixed Frame>

      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/LaserScan

      Color: 255; 255; 255

      Color Transformer: Intensity

      Decay Time: 0

      Enabled: true

      Invert Rainbow: false

      Max Color: 255; 255; 255

      Max Intensity: 4096

      Min Color: 0; 0; 0

      Min Intensity: 0

      Name: LaserScan

      Position Transformer: XYZ

      Queue Size: 10

      Selectable: true

      Size (Pixels): 3

      Size (m): 0.01

      Style: Flat Squares

      Topic: /scan

      Use Fixed Frame: true

      Use rainbow: true

      Value: true

    - Class: rviz/TF

      Enabled: true

      Frame Timeout: 15

      Frames:

        All Enabled: true

      Marker Scale: 1

      Name: TF

      Show Arrows: true

      Show Axes: true

      Show Names: true

      Tree:

        {}

      Update Interval: 0

      Value: true

    - Alpha: 0.7

      Class: rviz/Map

      Color Scheme: map

      Draw Behind: false

      Enabled: true

      Name: Map

      Topic: /map

      Value: true

    - Class: rviz/Image

      Enabled: false

      Image Topic: /camera/rgb/image_raw

      Max Value: 1

      Median window: 5

      Min Value: 0

      Name: Image

      Normalize Range: true

      Queue Size: 2

      Transport Hint: raw

      Value: false

  Enabled: true

  Global Options:

    Background Color: 48; 48; 48

    Fixed Frame: map

    Frame Rate: 30

  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

      Topic: /initialpose

    - 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: 10

      Enable Stereo Rendering:

        Stereo Eye Separation: 0.06

        Stereo Focal Distance: 1

        Swap Stereo Eyes: false

        Value: false

      Focal Point:

        X: 0

        Y: 0

        Z: 0

      Name: Current View

      Near Clip Distance: 0.01

      Pitch: 0.725398

      Target Frame: <Fixed Frame>

      Value: Orbit (rviz)

      Yaw: 4.7854

    Saved: ~

WindowGeometry:

  Displays:

    collapsed: false

  Height: 744

  Hide Left Dock: false

  Hide Right Dock: false

  Image:

    collapsed: false

  QMainWindow State:000000ff00000000fd0000000400000000000001250000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000001d1000000b5000000000000000000000001000001a30000025efc0200000004fb0000000a0049006d00610067006500000000280000025e0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d0065010000000000000515000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ea0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000

  Selection:

    collapsed: false

  Time:

    collapsed: false

  Tool Properties:

    collapsed: false

  Views:

    collapsed: false

  Width: 1301

  X: 58

  Y: 24