cartographer建图后续2，turtlebot上跑外部小车的odom和激光雷达hokuyo

1、设备

系统：ubuntu16.04+ros
机器人：turtlebot
外部传感器：hokuyo激光雷达

2、目的

之前说测试cartographer的建图，使用机器人本体的odom和激光数据。
由于中继机器人的odom不准，但是外部的gps组合导航可以输出一个odom，所以这次turtlebot测试是为后面中继机器人odom和scan建图做效果，还有靠这个导航。。。

3、安装

cartographer安装见https://blog.csdn.net/qq_36212935/article/details/107541117
北洋激光hokuyo启动文件，见创客智造吧

4、cartographer配置文件

在此处文件夹下修改/home/tmb/car_odom_scan_ws/src/cartographer_ros：
hokuyo_odom.launch:

<!--
  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.
-->

<launch>
  <param name="/use_sim_time" value="false" />  <!--建图时false，运行bag包时true。时间同步-->
  <!--这里turtlebot有模型，不用加载-->
  <!-- 运行激光雷达的坐标系laser到机器人坐标系base_link，静态发布-->
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0 0.0 0.0 base_link laser 100"/>


  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename hokuyo_odom.lua"
      output="screen">
    <remap from="scan" to="/scan" />
    <remap from="odom" to="/odom" />
  </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>

这里正常配置即可，注意的是静态发布激光雷达的坐标系laser到机器人坐标系base_link；param name="/use_sim_time" value=“false” 建图时false，运行bag包时true。时间同步
模型加载的问题，turtlebot有，但是中继没有，到时注意。

hokuyo_odom.lua：

-- 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 = "base_link",    --追中帧，默认base_link
  published_frame = "odom",    --使用odom数据
  --这里坐标关系为map到odom再到base_link。激光雷达的laser在launch文件中手动添加。
  odom_frame = "odom",    --不使用不设置，provide_odom_frame为false
  provide_odom_frame = false,   --使用外部/odom，所以这里不需要内部提供
  publish_frame_projected_to_2d = false,
  use_odometry = true,   --使用外部/odom的数据，true
  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 = 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

注意事项在代码中标出，这里坐标关系为map到odom再到base_link，如图：

map到odom到base_footprint到base_link，之后为base_link下面的各种关系，这里静态发布了激光雷达scan的laser。。。
但是在建图时不知道为什么LaseScan话题在闪烁，有时出错，有时正常？

5、自己的启动流程

编译：
catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash

1、启动小车（gps）的odom，先用turtlebot启动
roslaunch turtlebot_bringup minimal.launch 

键盘控制：
roslaunch turtlebot_teleop keyboard_teleop.launch 

2、启动hokuyo
source /home/tmb/relay_che/che_navigation/devel/setup.bash
roslaunch chuan_navigation hokuyo_laser.launch

或者home/tmb下的hokuyo.sh脚本文件

3、建图
source install_isolated/setup.bash

外部小车的odom和scan建图：
roslaunch cartographer_ros hokuyo_odom.launch 

算法的odom和scan建图：
roslaunch cartographer_ros demo_hokuyo.launch 


保存地图：
rosrun map_server map_saver -f ~/map/car111

6、结果

rqt_graph关系：

建图时的odom数据路线：

建图效果：

参考：

https://zhuanlan.zhihu.com/p/64747755