cartographer运行没有map_基于gmapping地图与cartographer地图测试蒙特卡罗定位

最近这一段时间一直在调节基于蒙特卡罗定位的导航，前提是基于已经开源的基于激光雷达的SLAM算法。地图的建立，主要是参考网上的开源教程，根据实际情况，调整相关的参数文件。最终是实现了建图。建立的地图的精度还没有具体的分析，但从直观上看，应该是没什么问题。因此计划通过AMCL来测试建立地图的精度。要运行AMCL首要的工作是运行move_base导航包；本文以rplidar_A2雷达为例，介绍AMCL的定位性能。

调节move_base节点,相关的参数文件:

(1) rplidar_amcl.launch.xml

(2) rplidar_costmap_params.yaml

(3) move_base.launch.xml

(4) costmap_common_params.yaml

max_obstacle_height: 2.0  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)

robot_radius: 0.18  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)

# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

#map_type: voxel

obstacle_layer:

enabled:              true

max_obstacle_height:  2.0

min_obstacle_height:  0.0

#origin_z:             0.0

#z_resolution:         0.2

#z_voxels:             2

#unknown_threshold:    15

#mark_threshold:       0

combination_method:   1

track_unknown_space:  true    #true needed for disabling global path planning through unknown space

obstacle_range: 2.0

raytrace_range: 5.0

#origin_z: 0.0

#z_resolution: 0.2

#z_voxels: 2

publish_voxel_map: false

observation_sources:  scan

scan:

data_type: LaserScan

topic: "/scan"

marking: true

clearing: true

expected_update_rate: 0

#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns

inflation_layer:

enabled:              true

cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)

inflation_radius:     0.25  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:

enabled:              true

map_topic:            "/map"

(5) local_costmap_params.yaml

local_costmap:

global_frame: odom

robot_base_frame: /base_footprint

update_