20.04部署cartographer

部署cartographer

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

下载cartographer新建了一个ws

mkdir carto_ws
cd carto_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

安装依赖

如果安装ROS的时候执行过’sudo rosdep init’，那么这里会报错，报错可以忽略

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

安装abseil-cpp library

src/cartographer/scripts/install_abseil.sh

编译并安装

catkin_make_isolated --install --use-ninja

#运行2d包

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
source install_isolated/setup.bash
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

使用自己的激光雷达数据
修改revo_lds.lua

gedit carto_ws/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

下面是修改的代码

-- 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",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = on,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  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

修改demo_revo_lds.launch

gedit carto_ws/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

修改

<!--
  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="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="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>

再次编译，要删除之前编译的文件

cd carto_ws
catkin_make_isolated --install --use-ninja

写入.bashrc中

source /home/xinghai/ROS/SLAMTEC/cartographer_ros/devel_isolated/setup.bash

运行代码

sudo chmod 666 /dev/ttyUSB0
roslaunch rplidar_ros rplidar_a3.launch
roslaunch cartographer_ros demo_revo_lds.launch

保存地图

cartographer建立完地图后，无法用map_server保存地图，

cartographer保存地图方式：
1 完成轨迹，不再接受数据

rosservice call /finish_trajectory 0 //结束路径0 的建图

2 序列化保存当前状态

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap2.pbstream'}"

3 将pbstream转化为pgm和yaml文件

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/xinghai/Downloads/mymap3map  -pbstream_filename=/home/xinghai/Downloads/mymap3.pbstream -resolution=0.05

解释

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=<绝对路径>/<地图名字> -pbstream_filename=<绝对路径>/<.pbstream名字> -resolution=0.05