LidarSLAM（二）：hdl_localization与movebase

连接 hdl_localization 和 Movebase

1 将自己的机器人（test_robot）中的launch文件对应的话题修改

hdl_localization与test_robot的连接只需要修改launch文件中的点云接收topic为robot/points2和odom_child_frame_id修改为robot/odom即可，另外还有个参数DIRECT可以在准确率和运行速度之间进行一定程度的调和。
补充一点：对应的pcd文件路径也需要修改

2 hdl_localization连接omtb

依赖

git clone https://github.com/koide3/ndt_omp.git
cd ~/catkin_ws
catkin_make

下载并编译hdl_localization

git clone  https://github.com/koide3/hdl_localization.git
cd ~/catkin_ws
catkin_make

生成Pcd地图

SC-LeGo-LOAM建图

保存pcd地图于data/文件夹下

启动hdl_localization

rosparam set use_sim_time true
roslaunch hdl_localization hdl_localization.launch

启动rviz

roscd hdl_localization/rviz
rviz -d hdl_localization.rviz

启动机器人

roslaunch test_robot.launch

3 TF转换（tf_publisher）

依赖
 

git clone https://github.com/carlosmccosta/laserscan_to_pointcloud.git
cd ~/catkin_ws
catkin_make

修改

<arg name="map_frame_id" default="robot1/odom" />
<arg name="odom_frame_id" default="robot1/map" />

编译TF转换节点

git clone https://github.com/carlosmccosta/pose_to_tf_publisher
cd ~/catkin_ws
catkin_make

连接hdl_localization和Movebase 依次输入

rosparam set use_sim_time true
roslaunch hdl_localization hdl_localization.launch
roscd hdl_localization/rviz

rviz -d hdl_localization.rviz
roslaunch test_robot.launch

启动节点

poslaunch pose_to_tf_publisher.launch

启动导航

roslaunch nativation.launch