建图学习手册

原创已于 2023-05-22 10:21:21 修改 · 660 阅读

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#学习 #servlet #dreamweaver

于 2023-03-23 22:37:27 首次发布

本文介绍了如何在ROS环境中配置镭神单线激光雷达M10-P，包括修改坐标系、设置IP地址以及选择雷达型号。随后，文章详细展示了安装和使用hector-slam进行地图构建的过程，包括参数配置和使用rviz进行可视化。最终，通过roslaunch启动hector.launch文件，实现激光雷达点云与地图的显示。

0-硬件

a.镭神单线激光雷达M10-P

b.官网下载激光雷达驱动包；

cd ~/leishen_ws

catkin_make

cd src/lslidar_driver/launch

vim lslidar_net.launch

1）修改激光雷达坐标为“laser”；

2）修改激光雷达源IP为192.168.1.222;

3）修改雷达目标IP为192.168.1.104；

4）雷达型号选择“M10_P”;

cd ~/leishen_ws

source devel/setup.bash

roslaunch lslidar_driver lslidar_net.launch

1-软件

1-1 hector

sudo apt-get install ros-noetic-hector-slam

sudo touch hector.launch

<launch>


<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />


<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>


<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="map_multi_res_levels" value="2" />


<param name="map_pub_period" value="2" />
<param name="laser_min_dist" value="0.4" />
<param name="laser_max_dist" value="5.5" />
<param name="output_timing" value="false" />
<param name="pub_map_scanmatch_transform" value="true" />
<!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->


<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />


<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
<param name="scan_topic" value="scan"/>
</node>


<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/>


  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>


</launch>

roslaunch hector.launch 启动后，即可看到地图与激光雷达点云！！