ros使用cartogrpher

转载来至：http://blog.exbot.net/archives/2852

如果安装过程中ceres-solver不能安装，并且我也没找到

        build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake  

所以就尝试手动安装：https://github.com/ceres-solver/ceres-solver

手动安装后从

rosdep update

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

开始向后执行命令

一、在安装cartographer前，需要系统满足如下的要求：

• 64-bit, modern CPU (e.g. 3rd generation i7)
• 16 GB RAM
• Ubuntu 14.04 (Trusty)
• gcc version 4.8.4
• ROS Indigo

本人是自己设计制作的机器人平台，只有一个激光雷达传感器URG-04LX-UG01。本人就是利用这个传感器实现的SLAM。

二、安装过程及命令：

# Install wstool and rosdep.

sudo apt-get update

sudo apt-get install -y python-wstool python-rosdep ninja-build

 

# Create a new workspace in 'catkin_ws'.

mkdir catkin_ws

cd catkin_ws

wstool init src

 

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

wstool update -t src

 

# Install deb dependencies.

rosdep update

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

 

# Build and install.

catkin_make_isolated --install --use-ninja

source install_isolated/setup.bash

备注：

问题：在catkin_make_isolated --install --use-ninja这一步，需要连接国外网下载ceres-solver，如果没有翻墙，会提示下载ceres-solver失败。

解决方法：

1.购买个VPN，连上国外网，翻墙后再运行该步骤的命令

2. 打开下面这个文件，修改git下载的地址

build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake

黑体部分修改成如下这样

while(error_code AND number_of_tries LESS 3)

execute_process(

COMMAND "/usr/bin/git" clone "https://github.com/ceres-solver/ceres-solver" "ceres_src"

WORKING_DIRECTORY

修改好后从新运行该步骤命令

三、运行google提供的demo，显示google采集到的一个房间的地图：

# Download the 2D backpack example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

# Launch the 2D backpack demo.

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

备注，在运行测试这个demo的过程中，本人出现了两个错误：

1.rviz提示错误。原因是我是用teamviewer远程连到机器人上操作的，而rviz无法在远程运行显示。所以本人只好在机器人上接上了显示器，这样rviz就能正常运行了

2.playbag提示错误。原因是cartographer_paper_deutsches_museum.bag这个包没有完整下载。完整下载应该是500M左右。

四、利用cartographer，实现实时的构图定位

1.先将激光雷达节点的运行起来

rosrun hokuyo hokuyo

2.修改demo_revo_lds.launch

vim demo_revo_lds.launch

修改后的文件如下：

1 2 3 4 5 6 7

< 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 >

3.修改配置参数文件revo_lds.lua

vim ../configuration_files/revo_lds.lua

修改后的文件如下：

01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53

include "map_builder.lua"   options = {  map_builder = MAP_BUILDER,   sensor_bridge = {   horizontal_laser_min_range = 0.3,   horizontal_laser_max_range = 5.6,   horizontal_laser_missing_echo_ray_length = 1.2,   constant_odometry_translational_variance = 0.,   constant_odometry_rotational_variance = 0.,   },   map_frame = "map",   tracking_frame = "laser",   published_frame = "laser",   odom_frame = "odom",   provide_odom_frame = true,   use_odometry_data = false,   use_horizontal_laser = true,   use_horizontal_multi_echo_laser = false,   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.重新编译

catkin_make_isolated --install --use-ninja

5.运行脚本进行实时构图定位

roslaunch cartographer_ros demo_revo_lds.launch

备注：

1.如果您使用的激光雷达不同，上面修改demo_revo_lds.launch和配置参数文件revo_lds.lua可能需要做相应的调整。

本人博客：http://blog.csdn.net/happiness_jia/article/details/52856197

参考资料：

https://google-cartographer-ros.readthedocs.io/en/latest/index.html

http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode