Google Cartographer 建立60000平米地下车库

系统：ubuntu server 16.04

ros 版本：kinetic

激光雷达：pavo      链接：http://www.siminics.com/

google cartographer 官方源码包：cartographer、cartographer-ros、ceres-solver；

demo.launch文件如下，因为是实际的建图，所以记得把use_sim_time设置为“false”，pavo激光发布的topic为“/scan",所以我把<remap>标记去掉了。

<?xml version="1.0"?>
<launch>
  <param name="/use_sim_time" value="false" />

  <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="horizontal_laser_2d" /> -->
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.025" />

</launch>

revo_lds.lua文件如下，因为只使用的是激光雷达建图，所以修改tracking_frame = “laser_link”，published_frame = "laser_link"；"laser_link"为pavo激光的frame；

修改雷达扫描数据的距离范围：

TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.max_range = 20.

完整的revo_lds.lua如下： 

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser_link",
  published_frame = "laser_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  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 = 0.1
TRAJECTORY_BUILDER_2D.max_range = 20.
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

编译运行google cartographer代码

roslaunch cartographer_ros demo.launch

建图效果：

效果一：六边形地下车库（80m × 80m），推着小车走了3遍，其实没有必要的。第一遍回环检测就已经把地图建立OK了。

效果二：办公楼一楼（室外），四边形内边是玻璃，里面有些是树叉

效果三：60000平米小区地下车库，推着小车在地下车库走，部分横向的车道没有走，每栋楼有两部电梯。

目前只使用激光建图基本OK，但是在狭长的走廊中50m左右，没有特征点的情况下，只使用激光建图会存在问题。

----------------------------------------------------更新2020-03-05------------------------------------------------------------------

某一个区域的地图（150m * 70m)