Gmapping wiki笔记

Charlesffff

已于 2022-06-17 14:13:56 修改

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分类专栏： Gmapping 文章标签： SLAM Gmapping

于 2022-06-17 13:49:20 首次发布

本文链接：https://blog.csdn.net/weixin_44190648/article/details/125328271

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一.node

1.slam_gmapping

1.1 Subscribed Topics（订阅话题）

1.2 Published Topics（发布话题）

1.3 Services（服务）

1.4 Parameters（参数）

一.node

1.slam_gmapping

The slam_gmapping node takes in sensor_msgs/LaserScan messages and builds a map (nav_msgs/OccupancyGrid). The map can be retrieved via a ROS topic or service.

The slam_gmapping节点带有 sensor_msgs/LaserScan消息，并且建图（nav_msgs/OccupancyGrid）。地图可以通过ROS话题或服务重新获得。

1.1 Subscribed Topics（订阅话题）

tf (tf/tfMessage)

Transforms necessary to relate frames for laser, base, and odometry (see below)
关联激光、基础坐标、里程计测量帧所需的转换（见下文）

scan (sensor_msgs/LaserScan)

Laser scans to create the map from
激光扫描以创建地图

1.2 Published Topics（发布话题）

map_metadata (nav_msgs/MapMetaData)

Get the map data from this topic, which is latched, and updated periodically.
从本主题中获取地图数据，该数据已锁定并定期更新

map (nav_msgs/OccupancyGrid)

Get the map data from this topic, which is latched, and updated periodically
从本主题中获取地图数据，该数据已锁定并定期更新

~entropy (std_msgs/Float64)

Estimate of the entropy of the distribution over the robot's pose (a higher value indicates greater uncertainty). New in 1.1.0.
估计机器人姿势分布的熵（值越高表示不确定性越大）

1.3 Services（服务）

dynamic_map (nav_msgs/GetMap)

Call this service to get the map data
调用此服务获得地图数据

1.4 Parameters（参数）

~inverted_laser (string, default: "false")（倒转激光）

(REMOVED in 1.1.1; transform data is used instead) Is the laser right side up (scans are ordered CCW), or upside down (scans are ordered CW)?
激光是正面朝上（扫描按CCW顺序）还是倒置（扫描按CW顺序排列）

~throttle_scans (int, default: 1)

Process 1 out of every this many scans (set it to a higher number to skip more scans)
每进行一次扫描中的 1 次扫描（将其设置为更大的数字以跳过更多扫描）

~base_frame (string, default: "base_link")

The frame attached to the mobile base.
链接移动底座的框架

~map_frame (string, default: "map")

The frame attached to the map.
连接地图的框架

~odom_frame (string, default: "odom")

The frame attached to the odometry system.
连接里程计系统框架

~map_update_interval (float, default: 5.0)（地图更新间隔）

How long (in seconds) between updates to the map. Lowering this number updates the occupancy grid more often, at the expense of greater computational load.
地图更新之间的时间长度（以秒为单位）。降低此数据会更频繁地更新占用网络，但代价是计算负载更大

~maxUrange (float, default: 80.0)（最大范围）

The maximum usable range of the laser. A beam is cropped to this value.
江光的最大可用范围。将梁裁剪为此值。

~sigma (float, default: 0.05)（西格玛）

The sigma used by the greedy endpoint matching
贪婪端点匹配使用的西格玛

~kernelSize (int, default: 1)（内核大小）

The kernel in which to look for a correspondence
在其中查找对应关系的内核

~lstep (float, default: 0.05)

The optimization step in translation
平移中的优化步骤

~astep (float, default: 0.05)

The optimization step in rotation
旋转中的优化步骤

~iterations (int, default: 5)（迭代）

The number of iterations of the scanmatcher
扫描匹配的迭代次数

~lsigma (float, default: 0.075)（似然估计西格玛）

The sigma of a beam used for likelihood computation
用于似然计算的梁的西格玛

~ogain (float, default: 3.0)（奥加因）

Gain to be used while evaluating the likelihood, for smoothing the resampling effects
增益在评估可能性时使用，用于平滑重采样效应

~lskip (int, default: 0)

Number of beams to skip in each scan. Take only every (n+1)th laser ray for computing a match (0 = take all rays)
每次扫描中要跳过的光束数。仅取第（n+1）条激光来计算匹配（0 = 取所有光线）

~minimumScore (float, default: 0.0)（最低分数）

Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose estimates in large open spaces when using laser scanners with limited range (e.g. 5m). Scores go up to 600+, try 50 for example when experiencing jumping estimate issues.
考虑扫描匹配结果好的最低分数。当使用范围有限（例如5m）的激光扫描仪时，可以避免在大型开放空间中进行跳跃姿势估计。分数上升到600 +，例如在遇到跳跃估计问题时尝试50。

~srr (float, default: 0.1)

Odometry error in translation as a function of translation (rho/rho)
平移中的里程测量误差作为平移函数（rho/rho）

~srt (float, default: 0.2)

Odometry error in translation as a function of rotation (rho/theta)
平移中的里程测量误差作为旋转的函数（rho/theta）

~str (float, default: 0.1)

Odometry error in rotation as a function of translation (theta/rho)
旋转中的里程测量误差作为平移函数（theta/rho）

~stt (float, default: 0.2)

Odometry error in rotation as a function of rotation (theta/theta)
旋转中的里程测量误差作为旋转的函数（theta/theta）

~linearUpdate (float, default: 1.0)（线性更新）

Process a scan each time the robot translates this far
每次机器人翻译到此为止时处理扫描

~angularUpdate (float, default: 0.5)（角度更新）

Process a scan each time the robot rotates this far
每次机器人旋转这么远时处理扫描

~temporalUpdate (float, default: -1.0)（时间更新）

Process a scan if the last scan processed is older than the update time in seconds. A value less than zero will turn time based updates off.
如果上次处理的扫描早于更新时间（以秒为单位），则处理扫描。小于零的值将关闭基于时间的更新。

~resampleThreshold (float, default: 0.5)（重新采样阈值）

The Neff based resampling threshold
基于内夫的重采样阈值

~particles (int, default: 30)（粒子）

Number of particles in the filter
过滤器中的粒子数

~xmin (float, default: -100.0)

Initial map size (in metres)
初始地图大小（以米为单位）

~ymin (float, default: -100.0)

Initial map size (in metres)
初始地图大小（以米为单位）

~xmax (float, default: 100.0)

Initial map size (in metres)
初始地图大小（以米为单位）

~ymax (float, default: 100.0)

Initial map size (in metres)
初始地图大小（以米为单位）

~delta (float, default: 0.05)

Resolution of the map (in metres per occupancy grid block)
地图分辨率（以米为单位，每个占用网格块）

~llsamplerange (float, default: 0.01)

Translational sampling range for the likelihood
似然的平移采样范围

~llsamplestep (float, default: 0.01)

Translational sampling step for the likelihood
似然的平移抽样步骤

~lasamplerange (float, default: 0.005)

Angular sampling range for the likelihood
似然的角度采样范围

~lasamplestep (float, default: 0.005)

Angular sampling step for the likelihood
似然法的角度采样步骤

~transform_publish_period (float, default: 0.05)

How long (in seconds) between transform publications. To disable broadcasting transforms, set to 0.
转换发布之间的时间长度（以秒为单位）。若要禁用广播转换，请设置为 0。

~occ_thresh (float, default: 0.25)

Threshold on gmapping's occupancy values. Cells with greater occupancy are considered occupied (i.e., set to 100 in the resulting sensor_msgs/LaserScan). New in 1.1.0.
gmapping占用值的阈值。占用率较高的小区被视为已占用（即，在生成的sensor_msgs/LaserScan中设置为100）

~maxRange (float)

The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange.
传感器的最大范围。如果在传感器范围内没有障碍物的区域在地图中显示为可用空间，请将 maxUrange 设置为<实际传感器的最大范围 < = maxRange。