使用UST-10LX运行cartographer

1、修改demo_revo_lds.launch
路径：cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

<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 revo_lds.lua"
 
      output="screen">
 
    <remap from="scan" to="scan" />
 
  </node>
 
 
 
  <node name="rviz" pkg="rviz" type="rviz" required="true"
 
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
 
</launch>

2 修改参数配置文件revo_lds.lua
路径：cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

include "map_builder.lua"
 
options = {
  map_builder = MAP_BUILDER,
 
  sensor_bridge = {  
  
    horizontal_laser_min_range = 0.3,  
  
    horizontal_laser_max_range = 10.,  
  
    horizontal_laser_missing_echo_ray_length = 1,  
  
    constant_odometry_translational_variance = 0.,  
  
    constant_odometry_rotational_variance = 0.,  
  
  }, 
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry_data = false,
  use_constant_odometry_variance = true,
  constant_odometry_translational_variance = 0.,
  constant_odometry_rotational_variance = 0.,
  use_horizontal_laser = true,
  use_horizontal_multi_echo_laser = false,
  horizontal_laser_min_range = 0.3,
  horizontal_laser_max_range = 10.,
  horizontal_laser_missing_echo_ray_length = 1.,
  num_lasers_3d = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
}
 
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
 
return options

3 重新编译

1. cd catkin_ws
2. catkin_make
3. source catkin_ws/devel/setup.bash
4. rospack profile

运行脚本进行实时建图

1. roscore
2. rosrun urg_node urg_node _ip_address:=192.168.0.10
3. roslaunch cartographer_ros demo_revo_lds.launch