【踩坑记录】仿真环境使用小车进行Cartographer 2D Slam&关于多工作空间下source的使用

【运行背景】

ROS1 noetic 20.04

安装好Cartographer并能成功运行demo，我的安装办法见以下链接

【安装学习】安装Cartographer ROS（noetic）https://blog.csdn.net/weixin_44362628/article/details/122540297?spm=1001.2014.3001.5501运行的逻辑为：

1. Gazebo中启动小车仿真和键盘控制节点
2. 启动Cartographer

---

【Gazebo仿真】

均在spark-slam-gazebo工作空间下

【编写launch文件】

取名为spark_cartographer_slam.launch，内容如下：

<?xml version="1.0"?>
<launch>
  <!-- 设置launch文件的参数 -->
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="model" default="$(find spark1_description)/urdf/spark1_description_cartographer.urdf"/>

   
    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

      <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
      <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>

       <!-- 运行robot_state_publisher节点，发布tf  -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
            <param name="publish_frequency" type="double" value="50.0" />
        </node>

     <!-- 在gazebo中加载机器人模型-->
     <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-unpause -urdf -model marobot1 -param robot_description -x 0.0 -y 0.0"/>

	      
      	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
  	  <node pkg="spark_teleop" type="keyboard_control.sh" name="kc_2d" />

</launch>

该launch文件包含以下五个部分：

1. 运行Gazebo仿真环境
2. 运行joint_state_publisher节点，发布机器人的关节状态
3. 运行robot_state_publisher节点，发布tf
4. 在gazebo中加载机器人模型
5. 运行键盘控制节点

---

【Cartographer_ros的使用】

均在catkin_google_ws工作空间下

【修改lua文件】       

cartographer_ros配置文件.lua文件路径位于cartographer_ros/configuration_files中，选择其中的revo_lds.lua文件复制修改，取新名字为spark_lidar.lua，内容如下

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  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 = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
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

修改了原文件tracking_frame和published_frame参数的值，和使用的机器人匹配

*其他参数值含义可参考官网，链接见以下链接

Cartographer ROS Integration

【修改launch文件】

cartographer_ros的launch文件demo_revo_lds.launch（使用的激光雷达较为相似）路径位于/cartographer_ros/launch中，选择并进行复制修改，取新名字spark_cartographer.launch，内容如下

<?xml version="1.0"?>
<launch>
  <arg name="model" default="$(find spark1_description)/urdf/spark1_description_cartographer.urdf"/>

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename spark_lidar.lua"
      output="screen">
    <remap from="scan" to="scan" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
        type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
      
  <!-- 加载机器人模型-->
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-unpause -urdf -model marobot1 -param robot_description -x 0.0 -y 0.0"/>

</launch>

该launch文件包含四部分：

1. 启动cartographer_node节点，配置文件指向刚刚设置的.lua文件，同时映射scan对应的话题
2. 启动cartographer_occupancy_grid_node地图格式转换节点，由于cartographer_node建图节点提供的地图是submapList格式的，需要转换成GridMap格式才能在ROS中显示和使用。这里面有两个可配参数，resolution用来设置GridMap地图的分辨率，publish_period_sec用来设置GridMap地图发布的频率。
3. 启动Rviz，启动成功后，再根据需求保存配置即可
4. 加载机器人模型，方便在rviz上查看，我的模型文件位于另一工作空间

【重新编译】

通过Lua脚本配置参数的方法，每次修改参数后需要重新编译，否则参数无法生效

！！！注意，可能会出现编译失败的情况，这时候将工作空间下的build_isolated，devel_isolated和install_isolated删除后，重新编译即可，如果有更好的办法请告诉我，感谢（后期也会补上对_isolated的学习理解）

---

【连通工作空间】

【起因】

按照顺序启动gazebo和Cartographer进行建图是没有问题的，只是由于机器人的模型位于spark1_description中，尝试过将文件复制到Cartographer的工作空间中，总是出现编译错误，所以更改环境变量来连通此两工作空间

【修改】

在/catkin_google_ws/devel_isolated下

 依次修改cartographer_ros，cartographer_ros_msgs，cartographer_rviz文件夹中的_setup_util.py

找到其中的CMAKE_PREFIX_PATH

 添加另一工作空间的devel路径，注意用“ ；”分割

三个文件都修改完后，source一下环境变量

 cd catkin_google_ws/
 source devel_isolated/setup.bash 

用echo $ROS_PACKAGE_PATH查看是否更改成功

 看到环境变量已包含两个工作空间，证明成功连通了

---

【运行仿真Cartographer】

【启动Gazebo仿真】

cd catkin_google_ws/
source devel_isolated/setup.bash 
roslaunch spark1_description spark_cartographer_slam.launch

【启动Cartographer】

启动新的终端

cd catkin_google_ws/
source devel_isolated/setup.bash
roslaunch cartographer_ros spark_cartographer.launch

添加围墙和障碍

 在启动的Rviz上修改Fixed Frame为odom

修改Views Type为Orbit，拖动视角

 控制小车移动建图，建图效果如下

---

感谢

蒋程扬的部落格_蒋程扬_CSDN博客-ROS机器人,QT,C++领域博主

（六）SLAM建图与自主避障导航——2.google-cartographer机器人SLAM建图 - 知乎