cartographer 坐标系_Cartographer使用流程-建图-纯定位-导航

问题：

1、官方下载地址；

2、官方文档；

安装

参考博文https://blog.csdn.net/weixin_39784658/article/details/99452960

官方安装指导https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html#building-installation

跑数据集

此部分参考博文 http://www.freesion.com/article/9794248452/

下载数据集

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

跑数据集建图

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag

跑数据集纯定位测试

roslaunch cartographer_ros demo_backpack_2d_localization.launch \

load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \

bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag

这里后面两个参数一个是上一步建好的地图，pbstream格式，另一个是数据集。也就是说，先用第一个数据集建图，建完图后用第二个数据集进行定位测试。

主要修改文件及参数

依据原有参考文件新建文件

文件对应关系

backpack_2d.launch -> my_robot_2d.launch

demo_backpack_2d.launch -> demo_my_robot_2d.launch

offline_backpack_2d.launch -> offline_my_robot_2d.launch

demo_backpack_2d_localization.launch -> demo_my_robot_localization_2d.launch

assets_writer_backpack_2d.launch -> assets_writer_my_robot_2d.launch

backpack_2d.lua -> my_robot_2d.lua

backpack_2d_localization.lua -> my_robot_2d_localization.lua

aasets_writer_backpack_2d.lua -> aasets_writer_my_robot_2d.lua

建图

参考博文https://blog.csdn.net/m0_37672916/article/details/77198261

建图操作流程

主要包含：激光雷达、移动机器人(轮椅)、cartographer。

1、启动激光雷达