Cartographer移动机器人仿真

１、Cartographer安装：需要安装这几个软件包ceres solver、cartographer、cartographer_ros、cartographer_ros_msgs、cartographer_rviz

安装依赖：

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

安装cere solver：

sudo apt-get install ceres-solver-doc

安装cartographer大礼包：

sudo apt-get install ros-kinetic-cartographer*

２、下载功能包cartographer_ros到catkin_ws下面的src文件夹下

git clone https://github.com/hitcm/cartographer_ros.git

然后在catkin_ws下面编译工作空间

$catkin_make

３、创建参数配置文件rplidar.lua，将tracking_frame参数设置为 "base_footprint"，即得到里程计坐标odom到机器人底座坐标base_footprint的 tf 转换关系。

include "map_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry_data = false,
  use_constant_odometry_variance = false,
  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 = 8.,
  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

4、配置cartographer节点，创建cartographer_rplidar.launch文件，里面包含了刚创建的参数配置文件rplidar.lua，需要把rplidar.lua文件放置到cartographer_ros/configuration_files目录下

<?xml version="1.0"?>
<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 rplidar.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>

５、创建robot_laser_nav_gazebo.launch文件加载地图和机器人模型，注意参数设置中加载地图和机器人模型的路径是否正确

<?xml version="1.0"?>
<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find robot_gazebo)/worlds/cloister.world"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find robot_description)/xacro/gazebo/mbot_with_laser_gazebo.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mbot -param robot_description"/> 

</launch>

６、运行

在gazebo上加载地图和机器人模型

$roslaunch robot_gazebo robot_laser_nav_gazebo.launch

运行cartographer节点

$roslaunch cartographer_ros cartographer_rplidar.launch

键盘控制机器人运动

$roslaunch robot_teleop robot_teleop.launch

７、展示

８、保存地图

$rosrun map_server map_saver -f cartographer_map