使用Cartographer2D建图

Cartographer安装请见我之前的博客

以下是建图步骤

一、修改代码

1.是catkin_ws/src/cartographer_ros/cartographer_ros/launch目录下的demo_revo_lds.launch文件
修改前：

<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="horizontal_laser_2d" />     //话题重命名
  </node>

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
  <node name="playbag" pkg="rosbag" type="play" args="--clock $(arg bag_filename)" />  //使用演示数据
</launch>

修改后：

<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./catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files目录下的revo_lds.lua文件
将文件中的部分参数设置为下示

  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",

map_frame是地图坐标系名称
tracking_frame为IMU的坐标系
published_frame为机器人基底坐标系
odom_frame里程计坐标系名称

二、运行雷达和机器人

根据个人的雷达ROS包和机器人的包，这里的命令都不一样

机器人控制节点

 roslaunch handsfree_hw handsfree_hw.launch

雷达节点

 roslaunch rplidar_ros rplidar.launch

运行Cartographer算法

roslaunch cartographer_ros demo_revo_lds.launch

三、保存地图
命令：

rosrun map_server map_saver -f ~/my_map

参考博客：
https://blog.csdn.net/qq_34935373/article/details/111991920
https://blog.csdn.net/zhao_ke_xue/article/details/87875984