cartographer大场景录制bag包建图

cartographer大场景录制bag包建图

由于电脑处理ROS大场景建图的性能不足，可以通过录制bag包建图。（Ubuntu16.04+kinetic版本）
在已经配置好cartographer的情况下
1、首先启动自己底层和激光雷达（这里我使用的是velodyne16线雷达）

roslaunch sinebot_bringup middlebot_bringup.launch

然后使用rosrun rqt_tf_tree rqt_tf_tree 查看自己的树

2、输入rostopic list查看话题信息，检查最重要的 /odom /scan /tf话题
3、录制话题：（没有imu可以全部imu的都不录制），找一个路径打开终端用于保存bag包。

rosbag record /imu/anglez /imu/data_raw /imu/mag /odom  /scan /tf -o 包名.bag

4、启动键盘控制命令（线速度0.5左右，角速度0.2左右）尽量跑直线，转弯转90°。最好跑够两圈，回环并消除障碍。跑完ctrl+c退出终端，找到录制bag。
5、启动建图，电脑性能差最好去除RVIZ，单独写一个launch文件来打开

roslaunch cartographer_ros demo_velodyne_2d.launch

代码如下：

<launch>
  <param name="/use_sim_time" value="flase" />
  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename velodyne.lua"
      output="screen">
    <remap from="scan" to="scan" />
    <remap from="odom" to="/odom"/>
  </node>
  <!--node pkg="tf" type="static_transform_publisher" name="base_footprint_to_velodyne" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_footprint /velodyne 200" /-->
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

lua文件代码：

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 = "odom",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_odometry = true,
  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 = 80.
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

6、播放包，然后使用rosrun rqt_tf_tree rqt_tf_tree 查看自己的树

rosbag play 包名.bag

7、可打开rviz查看建图情况roslaunch cartographer_ros yao.launch （自己单独写的），建图效果没问题就最好关掉。
8、播放完包，保存地图的方法（名字路径按照自己的修改即可）

rosservice call /finish_trajectory 0  #停止建图
rosservice call /write_state /home/xx/picture/map_process/gmapping_xx_test.pbstream   #保存
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/xx/picture/map_process/gmapping_xx_test -pbstream_filename=/home/xx/picture/map_process/gmapping_xx_test.pbstream -resolution=0.05    #转换

9、对于调试可用rosbag play -r 8 包名.bag 8倍速播放自己的包查看odom是否歪的太多，然后查看下面篇博客图形化观察，https://editor.csdn.net/md/?articleId=116355343
还有注意自己的tree连接情况，以及cartogrpher配置等。