ROS2 humble安装Cartographer以及使用

1,Cartographer的介绍

Cartographer是Google开源的一个可跨多个平台和传感器配置以2D和3D形式提供实时同时定位和建图（SLAM）的系统。

github地址：https://github.com/cartographer-project/cartographer

文档地址：https://google-cartographer.readthedocs.io/en/latest

2,Cartographer的安装

安装Cartographer与Cartographer_ros

sudo apt install ros-humble-cartographer

sudo apt install ros-humble-cartographer-ros

源码安装

git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b ros2
git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b ros2

https://ghproxy.com如果你有代理，这部分你可以不需要

安装依赖

这里我们使用鱼香ros的一键安装

wget http://fishros.com/install -O fishros && . fishros

然后在你的工作空间xxx_ws下运行

rosdepc install -r --from-paths src --ignore-src --rosdistro humble -y

编译

colcon build --packages-up-to cartographer_ros

测试是否安装成功

ros2 pkg list | grep cartographer

看到下面结果即可

cartographer_ros
cartographer_ros_msgs

这里特别提供launch文件

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    # 地图的分辨率
    resolution = LaunchConfiguration('resolution', default='0.05')
    # 地图的发布周期
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='fishbot_2d.lua')
    rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
    print(f"rviz config in {rviz_config_dir}")
 
    
    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename])
 
    cartographer_occupancy_grid_node = Node(
        package='cartographer_ros',
        executable='cartographer_occupancy_grid_node',
        name='cartographer_occupancy_grid_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
 
    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config_dir],
        parameters=[{'use_sim_time': use_sim_time}],
        output='screen')
 
    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(cartographer_node)
    ld.add_action(cartographer_occupancy_grid_node)
    ld.add_action(rviz_node)
 
    return ld

如果你遇到编译问题，请检查launch文件，我被困扰了很久。