ROS学习笔记------ROS深度解析----- day 7 2019/3/16 帅某（Cartographer源码阅读(1)：程序入口）

带着几个思考问题：

（1）IMU数据的使用，如何融合，Kalman滤波？

（2）图优化的具体实现，闭环检测的策略？

（3）3D激光的接入和闭环策略？

1. 安装Kdevelop工具：

http://blog.csdn.net/p942005405/article/details/75715288

http://blog.csdn.net/wan_exe/article/details/56275108

yhexie@ubuntu:~$ sudo apt-get install kdevelop
[sudo] password for yhexie: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
  icoutils kactivities kapptemplate kate-data katepart kde-runtime
  kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
  kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools
  kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration
  libattica0.4 libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0
  libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4
  libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5
  libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5
  libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5
  libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5
  libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5
  libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data
  libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data
  libkf5dbusaddons5 libkf5declarative-data libkf5declarative5
  libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5
  libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5
  libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5
  libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data
  libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data
  libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5
  libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data
  libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5
  libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5
  libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data
  libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5
  libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4
  libknewstuff3-4 libknotifyconfig4 libkntlm4 libkparts4 libkpty4
  libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route-3-200
  libntrack-qt4-1 libntrack0 libphonon4 libphonon4qt5-4 libplasma3
  libpolkit-qt-1-1 libpolkit-qt5-1-1 libqca2 libqca2-plugins libqjson0
  libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5
  libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0
  ntrack-module-libnl-0 oxygen-icon-theme oxygen5-icon-theme phonon
  phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework
  plasma-scriptengine-javascript qml-module-org-kde-activities
  qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
  qml-module-qtquick-controls qml-module-qtquick-dialogs
  qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
  qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
  sonnet-plugins
Suggested packages:
  docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html
  | docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc
  docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan
  libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin
  finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi
  phonon-backend-mplayer phonon-backend-vlc gstreamer1.0-plugins-ugly
  phonon4qt5-backend-gstreamer perlsgml w3-recs opensp
The following NEW packages will be installed:
  breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
  icoutils kactivities kapptemplate kate-data katepart kde-runtime
  kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
  kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs
  kdoctools kpackagelauncherqml kpackagetool5 kwayland-data
  kwayland-integration libattica0.4 libdbusmenu-qt2 libdbusmenu-qt5
  libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6
  libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5
  libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4
  libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5
  libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data
  libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5
  libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5
  libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin
  libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data
  libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data
  libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5
  libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data
  libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5
  libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5
  libkf5notifications-data libkf5notifications5 libkf5package-data
  libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5
  libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data
  libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data
  libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data
  libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5
  libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5
  libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3-4 libknotifyconfig4
  libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4
  libkxmlrpcclient4 libnl-route-3-200 libntrack-qt4-1 libntrack0 libphonon4
  libphonon4qt5-4 libplasma3 libpolkit-qt-1-1 libpolkit-qt5-1-1 libqca2
  libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4
  libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1
  libxcb-composite0 libxcb-damage0 ntrack-module-libnl-0 oxygen-icon-theme
  oxygen5-icon-theme phonon phonon-backend-gstreamer
  phonon-backend-gstreamer-common plasma-framework
  plasma-scriptengine-javascript qml-module-org-kde-activities
  qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
  qml-module-qtquick-controls qml-module-qtquick-dialogs
  qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
  qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
  sonnet-plugins
0 upgraded, 161 newly installed, 0 to remove and 201 not upgraded.
Need to get 82.5 MB of archives.
After this operation, 310 MB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqjson0 amd64 0.8.1-3 [63.7 kB]
Get:2 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB]
Get:3 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB]
Get:4 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB]
Get:5 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB]
Get:6 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB]
Get:7 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB]
Get:8 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB]
Get:9 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB]
Get:10 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 fonts-dejavu all 2.35-1 [3,184 B]
Get:11 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 icoutils amd64 0.31.0-3 [56.7 kB]
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Get:32 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews-data all 5.18.0-0ubuntu1 [13.9 kB]
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Get:34 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes5 amd64 5.18.0-0ubuntu1 [76.6 kB]
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Get:37 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets-data all 5.18.0-0ubuntu1 [52.2 kB]
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Get:104 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsembed4 amd64 4:4.14.16-0ubuntu3.2 [309 kB]
Get:105 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkrosscore4 amd64 4:4.14.16-0ubuntu3.2 [57.1 kB]
Get:106 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs-bin amd64 4:4.14.16-0ubuntu3.2 [168 kB]
Get:107 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-data all 4:4.14.16-0ubuntu3.2 [2,622 kB]
Get:108 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB]
Get:109 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkpty4 amd64 4:4.14.16-0ubuntu3.2 [32.9 kB]
Get:110 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkde3support4 amd64 4:4.14.16-0ubuntu3.2 [314 kB]
Get:111 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdewebkit5 amd64 4:4.14.16-0ubuntu3.2 [63.8 kB]
Get:112 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB]
Get:113 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkfile4 amd64 4:4.14.16-0ubuntu3.2 [222 kB]
Get:114 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB]
Get:115 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkhtml5 amd64 4:4.14.16-0ubuntu3.2 [2,032 kB]
Get:116 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkntlm4 amd64 4:4.14.16-0ubuntu3.2 [28.7 kB]
Get:117 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt-1-1 amd64 0.112.0-4 [53.2 kB]
Get:118 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-plugins amd64 4:4.14.16-0ubuntu3.2 [982 kB]
Get:119 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen5-icon-theme all 5.18.0-0ubuntu1 [29.5 MB]
Get:120 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen-icon-theme all 5:5.18.0-0ubuntu1 [2,222 B]
Get:121 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdnssd4 amd64 4:4.14.16-0ubuntu3.2 [67.2 kB]
Get:122 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2 amd64 2.1.1-2ubuntu1 [305 kB]
Get:123 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libthreadweaver4 amd64 4:4.14.16-0ubuntu3.2 [46.8 kB]
Get:124 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libplasma3 amd64 4:4.14.16-0ubuntu3.2 [928 kB]
Get:125 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 plasma-scriptengine-javascript amd64 4:15.12.3-0ubuntu1 [397 kB]
Get:126 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkactivities6 amd64 4:4.13.3-0ubuntu6 [34.6 kB]
Get:127 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeclarative5 amd64 4:4.14.16-0ubuntu3.2 [39.2 kB]
Get:128 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdesu5 amd64 4:4.14.16-0ubuntu3.2 [52.5 kB]
Get:129 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkmediaplayer4 amd64 4:4.14.16-0ubuntu3.2 [29.2 kB]
Get:130 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknotifyconfig4 amd64 4:4.14.16-0ubuntu3.2 [40.0 kB]
Get:131 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkxmlrpcclient4 amd64 4:4.14.10-1ubuntu2 [28.8 kB]
Get:132 http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 libnl-route-3-200 amd64 3.2.27-1ubuntu0.16.04.1 [124 kB]
Get:133 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ntrack-module-libnl-0 amd64 016-1.3 [17.2 kB]
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Get:135 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack-qt4-1 amd64 016-1.3 [6,904 B]
Get:136 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer-common amd64 4:4.8.2-0ubuntu2 [11.0 kB]
Get:137 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer amd64 4:4.8.2-0ubuntu2 [109 kB]
Get:138 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon amd64 4:4.8.3-0ubuntu3 [8,874 B]
Get:139 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime amd64 4:15.12.3-0ubuntu1 [1,899 kB]
Get:140 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop-data all 4:4.7.3-0ubuntu1 [3,152 kB]
Get:141 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libsublime8 amd64 1.7.3-0ubuntu1 [99.3 kB]
Get:142 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libgrantlee-core0 amd64 0.5.1-0ubuntu3 [225 kB]
Get:143 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevplatform8-libs amd64 1.7.3-0ubuntu1 [2,440 kB]
Get:144 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop amd64 4:4.7.3-0ubuntu1 [1,485 kB]
Get:145 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagelauncherqml amd64 5.18.0-0ubuntu1 [13.4 kB]
Get:146 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagetool5 amd64 5.18.0-0ubuntu1 [51.3 kB]
Get:147 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-data all 4:5.5.5-0ubuntu1 [2,716 B]
Get:148 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5idletime5 amd64 5.18.0-0ubuntu1 [26.9 kB]
Get:149 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5waylandclient5 amd64 4:5.5.5-0ubuntu1 [106 kB]
Get:150 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-integration amd64 4:5.5.5-0ubuntu1 [21.0 kB]
Get:151 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-bin amd64 5.18.0-0ubuntu1 [31.4 kB]
Get:152 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-bin amd64 5.18.0-0ubuntu1 [7,774 B]
Get:153 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccelprivate5 amd64 5.18.0-0ubuntu1 [40.6 kB]
Get:154 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-bin amd64 5.18.0-0ubuntu1 [13.4 kB]
Get:155 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-bin amd64 5.18.0-0ubuntu1 [5,966 B]
Get:156 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-bin amd64 5.18.0-0ubuntu1 [16.9 kB]
Get:157 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2-plugins amd64 2.1.1-2ubuntu1 [186 kB]
Get:158 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqt5waylandclient5 amd64 5.5.1-2build1 [211 kB]
Get:159 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB]
Get:160 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB]
Get:161 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB]
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kdevelop

2. Cartographer_ROS不同节点的入口main()函数

这里作一点更正，首先Cartographer_ROS是一个Package，包含多个node，所以程序入口main函数有很多个。比如还有offline_node_main.cc，通过查看不同的launch文件可以看看究竟有多少个node。

这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。

(1) 主程序入口(node_main.cc)

int main(int argc, char** argv) {
  google::InitGoogleLogging(argv[0]);
  google::ParseCommandLineFlags(&argc, &argv, true);

  CHECK(!FLAGS_configuration_directory.empty())
      << "-configuration_directory is missing.";
  CHECK(!FLAGS_configuration_basename.empty())
      << "-configuration_basename is missing.";

  ::ros::init(argc, argv, "cartographer_node");
  ::ros::start();

  cartographer_ros::ScopedRosLogSink ros_log_sink;
  cartographer_ros::Run();
  ::ros::shutdown();
}

main

(2) cartographer_ros::Run()是全局函数。

注意该方法中的::ros::spin();进入ROS系统内部循环，消息的请求响应，各种处理开始。

void cartographer_ros::Run() {
  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
  tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
  tf2_ros::TransformListener tf(tf_buffer);
  NodeOptions node_options;
  TrajectoryOptions trajectory_options;
  std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename);

  Node node(node_options, &tf_buffer);
  if (!FLAGS_map_filename.empty())
 {
    node.LoadMap(FLAGS_map_filename);
  }

  if (FLAGS_start_trajectory_with_default_topics) 
 {
    node.StartTrajectoryWithDefaultTopics(trajectory_options);
  }

  ::ros::spin();

  node.FinishAllTrajectories();
  node.RunFinalOptimization();

  if (!FLAGS_save_map_filename.empty()) 
  {
    node.SerializeState(FLAGS_save_map_filename);
  }
}

cartographer_ros::Run()

(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);

在cartographer_ros::Run()第15行-18行，执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。

Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
    : node_options_(node_options),
      map_builder_bridge_(node_options_, tf_buffer) {
  carto::common::MutexLocker lock(&mutex_);
  submap_list_publisher_ =
      node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
          kSubmapListTopic, kLatestOnlyPublisherQueueSize);
  trajectory_node_list_publisher_ =
      node_handle_.advertise<::visualization_msgs::MarkerArray>(
          kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
  constraint_list_publisher_ =
      node_handle_.advertise<::visualization_msgs::MarkerArray>(
          kConstraintListTopic, kLatestOnlyPublisherQueueSize);
  service_servers_.push_back(node_handle_.advertiseService(
      kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
  service_servers_.push_back(node_handle_.advertiseService(
      kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this));
  service_servers_.push_back(node_handle_.advertiseService(
      kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this));
  service_servers_.push_back(node_handle_.advertiseService(
      kWriteStateServiceName, &Node::HandleWriteState, this));

  scan_matched_point_cloud_publisher_ =
      node_handle_.advertise<sensor_msgs::PointCloud2>(
          kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize);

  wall_timers_.push_back(node_handle_.createWallTimer(
      ::ros::WallDuration(node_options_.submap_publish_period_sec),
      &Node::PublishSubmapList, this));
  wall_timers_.push_back(node_handle_.createWallTimer(
      ::ros::WallDuration(node_options_.pose_publish_period_sec),
      &Node::PublishTrajectoryStates, this));
  wall_timers_.push_back(node_handle_.createWallTimer(
      ::ros::WallDuration(node_options_.trajectory_publish_period_sec),
      &Node::PublishTrajectoryNodeList, this));
  wall_timers_.push_back(node_handle_.createWallTimer(
      ::ros::WallDuration(kConstraintPublishPeriodSec),
      &Node::PublishConstraintList, this));
}

Node构造函数

if (FLAGS_start_trajectory_with_default_topics)
{
　　node.StartTrajectoryWithDefaultTopics(trajectory_options);
}

Node::StartTrajectoryWithDefaultTopics函数如下：

void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
{
   carto::common::MutexLocker lock(&mutex_);
   CHECK(ValidateTrajectoryOptions(options));
   AddTrajectory(options, DefaultSensorTopics());//注意
}

DefaultSensorTopics()函数如下：

cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
{
  cartographer_ros_msgs::SensorTopics topics;
  topics.laser_scan_topic = kLaserScanTopic;
  topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
  topics.point_cloud2_topic = kPointCloud2Topic;
  topics.imu_topic = kImuTopic;
  topics.odometry_topic = kOdometryTopic;
  return topics;
}

(3.1)查看Node::AddTrajectory的代码，特别注意map_builder_bridge_.AddTrajectory(x,x)，需要重点阅读。

int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
  const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
  const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
  AddExtrapolator(trajectory_id, options);
  AddSensorSamplers(trajectory_id, options);
  LaunchSubscribers(options, topics, trajectory_id);//消息订阅，重要
  is_active_trajectory_[trajectory_id] = true;
  subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
  return trajectory_id;
}

其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。
(3.2) 消息订阅

void Node::LaunchSubscribers(const TrajectoryOptions& options,
                             const cartographer_ros_msgs::SensorTopics& topics,
                             const int trajectory_id) {
  for (const std::string& topic : ComputeRepeatedTopicNames(
           topics.laser_scan_topic, options.num_laser_scans)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::LaserScan>(
             &Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
             this),
         topic});
  }
  for (const std::string& topic :
       ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
                                 options.num_multi_echo_laser_scans)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
             &Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
             &node_handle_, this),
         topic});
  }
  for (const std::string& topic : ComputeRepeatedTopicNames(
           topics.point_cloud2_topic, options.num_point_clouds)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::PointCloud2>(
             &Node::HandlePointCloud2Message, trajectory_id, topic,
             &node_handle_, this),
         topic});
  }

  // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
  // required.
  if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
      (node_options_.map_builder_options.use_trajectory_builder_2d() &&
       options.trajectory_builder_options.trajectory_builder_2d_options()
           .use_imu_data())) {
    std::string topic = topics.imu_topic;
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
                                                trajectory_id, topic,
                                                &node_handle_, this),
         topic});
  }

  if (options.use_odometry) {
    std::string topic = topics.odometry_topic;
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
                                                  trajectory_id, topic,
                                                  &node_handle_, this),
         topic});
  }
}

Node::LaunchSubscribers

(4) 回到步骤(2)，进行系统循环，订阅主题的消息处理开始。