rpLidar使用hector_slam建图与保存

环境说明

ubuntu16.04
ros-kinetic-desktop-full
（官网安装：http://wiki.ros.org/cn/kinetic/Installation/Ubuntu）

连通rplidar

查看USB设备（如果无法找到，需要安装相关驱动）

ls -l /dev/ | grep ttyUSB

赋予ttyUSB0权限

sudo chmod 666 /dev/ttyUSB0

配置rplidar的ros工作空间

ros编译rplidar_ros

mkdir -p ~/rplidar_ws/src
cd src
git clone https://github.com/robopeak/rplidar_ros
cd ..
catkin_make

添加环境变量

source /devel/setup.bash

查看rplidar的点云数据

roslaunch rplidar_ros rplidar_a3.launch

打开rviz可视化点云数据

roscore
//另开端口
roslaunch rplidar_ros view_rplidar_a3.launch

使用hector_slam进行建图

ros编译hector_slam

mkdir -p ~/rplidar_ws/src
cd src
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
cd ..
catkin_make

添加环境变量

source /devel/setup.bash

创建建图的launch文件

在~/rplidar_ws/src/rplidar_ros/文件夹下，创建hector_mapping.launch，写入以下内容：

<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>

进行建图

roslaunch rplidar_ros hector_mapping.launch
//另开端口
roslaunch rplidar_ros rplidar_a3.launch

稳定移动即可实现建图。

保存地图

//可以自己指定存储文件夹，会产生pgm和yaml文件
rosrun map_server map_saver –f ~/rplidar_ws/src/data/map_0729/mymap

读取地图数据

rosrun map_server map_server  ~/rplidar_ws/src/data/map_0729/mymap.yaml