cartographer+EAI ydlidar雷达配置过程

cartographer+EAI ydlidar雷达配置过程

一、配置环境（安装驱动）

1、系统环境：ubuntu16.04+ROS-kinetic

2、安装ROS-kinetic 详细说明过程 http://wiki.ros.org/kinetic/Installation/Ubuntu

二、代码程序

见附件

三、说明文档（配置步骤+代码说明）

3.1 配置过程

1、安装cartographer

按网上教程安装cartographer+ROS，做到能从bag包出slam图。

3.2 雷达测试

3.2.1 rplidar配置过程

EA教程与ros驱动程序源码下载

#依照EAI文档介绍，创建雷达链接，ros节点默认打开串口设备/dev/ydlidar
ls /dev/ttyUSB*
sudo ln -s /dev/ttyUSB0 /dev/ydlidar

3.2.2 ydlidar配置过程

按EAI文档安装好SDK与ydlidar_ros_driver-master

 

如果配置过，直接进入启动过程

3.3 启动过程

修改cartographer_ros–cartographer_ros–launch–demo_revo_lds.launch（改动红色字体部分）

• <launch>
   
    <param name="/use_sim_time" value="false" />
    <node name="cartographer_node" pkg="cartographer_ros"
        type="cartographer_node" args="
            -configuration_directory $(find cartographer_ros)/configuration_files
            -configuration_basename revo_lds.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" />
    
  </launch>

修改cartographer_ros–cartographer_ros–configuration_files–revo_lds.lua：

1，改动红色字体部分，此处tracking_frame = "laser_frame",与雷达的ydlidar_ros_driver-master/launch/TX.launch里面tf节点内容一致

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
    args="0.0 0.0 0.2 0.0 0.0 0.0 /base_footprint /laser_frame 40" />

2，去掉playbag节点：  <node name="playbag" pkg="rosbag" type="play" args="--clock $(arg bag_filename)" />

• include "map_builder.lua"
  include "trajectory_builder.lua"
   
  options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "laser_frame",
    published_frame = "laser_frame",
    odom_frame = "odom",
    provide_odom_frame = true,
    publish_frame_projected_to_2d = false,
    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

重新编译工作区间

catkin_make_isolated --install --use-ninja

•  

3.3.2 ydlidar 启动过程

roslaunch ydlidar ydlidar_test.launch
roslaunch cartographer_ros demo_revo_lds.launch