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
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