在此之前在进行ROS试验时,利用Gmapping进行SLAM测试,会出现一些构图不够精确的问题,同时Gmapping在构图时对里程计有较大的依赖,最近发现Google的Cartographer可以进行较好的同步定位与构图(SLAM),故在这里进行记录。由于作者水平有限,故本文难免会出现一些错误之处,因此仅供参考,同时再次感谢之前提供参考的作者:https://blog.csdn.net/weixin_36976685/article/details/83548456
第一步,TX2安装rplidar
该步的过程可以参考该链接:https://blog.csdn.net/weixin_38419133/article/details/88069287。
第二步,TX2安装Cartographer
在Jetson TX2安装Cartographer与在虚拟机中安装Cartographe几乎没有什么不同,安装中博主梦凝小筑已经给出了比较详细的安装过程,在此就不再赘述了,主要针对可能出现的问题进行说明。
在进行一下步骤时
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
可能会出现如下错误提示:
error: RPC failed; curl 56 GnuTLS recv error (-54): Error in the pull function.
fatal: The remote end hung up unexpectedly
fatal: 过早的文件结束符(EOF)
fatal: index-pack 失败
解决方法:
- git config --global http.postBuffer 20000000
第三步,修改cartographer中的相关文件
- 修改revo_lds_.lua文件,该文件位于:(自己创建的工作空间文件夹)/src/cartographer_ros/cartographer_ros/configuration_files文件夹中。进行如下修改:
-- 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 = "horizontal_laser_link", #该处将horizontal_laser_link修改为laser published_frame = "horizontal_laser_link", #该处将horizontal_laser_link修改为laser 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 demo_revo_lds.launch,该文件位于:自己创建的工作空间文件夹)/src/cartographer_ros/cartographer_ros/launch文件夹中。进行如下修改:
-- 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 = "horizontal_laser_link", #该处将horizontal_laser_link修改为laser published_frame = "horizontal_laser_link", #该处将horizontal_laser_link修改为laser 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
- 重新编译
$ cd ~/Google_cartograher_ws #你自己创建的文件夹名字 $ catkin_make_isolated --install --use-ninja
等待编译完成。
第四步,测试
在TX2中启动两个终端,在第一个终端中输入以下指令:
$ roslaunch rplidar_ros rplidar.launch
在第二个终端中输入以下指令:
$ roslaunch cartographer_ros demo_revo_lds.launch
完成这两步后在RVIZ中应该可以显示出如下类似的图像