cartographer建图后续，以及后面遇见的问题（之前重装系统，ros重装，turtlebot重装）

1、修改配置文件，激光雷达hokuyo

进入/src/cartographer_ros/cartographer_ros/launch文件中，创建demo_hokuyo.launch文件，添加下面代码。

<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 demo_hokuyo.lua"
      output="screen">
    <remap from="scan" to="/scan" />
  </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" />
 
</launch>

进入src/cartographer_ros/cartographer_ros/configuration_files文件中，创建demo_hokuyo.lua文件，添加下面代码。

-- 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",    --父框架
  tracking_frame = "laser",   --SLAM算法跟踪帧，imu为“imu_link”
  published_frame = "laser", --发布帧
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,  --要订阅的激光扫描主题数
  num_multi_echo_laser_scans = 0,  ----要订阅的多回波激光扫描主题数
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,  --发布子图时间
  pose_publish_period_sec = 5e-3,  --发布姿势时间
  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 = 10.
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

再次编译catkin_make_isolated --install --use-ninja

2、启动激光雷达（默认配置好的）：

roslaunch ......(你的文件目录)...... hokuyo_laser.launch

3、启动建图：

roslaunch cartographer_ros demo_hokuyo.launch

没添加source到环境变量中的，记得source install_isolated/setup.bash

4、保存地图

rosrun map_server map_saver -f ~/map/car1

出现[ INFO] [1596077199.424390081]: Waiting for the map这个，只需要等待就OK。原因应该是激光雷达还在反应，不懂。。。

地图效果：

注意：

每次启动激光雷达hokuyo时都要赋予权限sudo chmod 777 /dev/ttyACM0
可设置永久赋予：

cd /etc/udev/rules.d
sudo gedit 50-laser.rules

添加内容：

KERNEL=="ttyACM[0-9]*", MODE="0777"

重启：

sudo /etc/init.d/udev restart

查看权限：

ls -l /dev/ttyACM0