EAI激光雷达X4使用gmapping与laser_scan_matcher建图（二）

以下便是gmapping+laser_scan_matcher提供的2Dpose的launch文件源码，这里将laser_scan_matcher提供的2Dpose当作里程计来使用：

<!-- Example launch file: uses laser_scan_matcher together with slam_gmapping -->

<launch>


  ##################### set up data playback from bag ####################


  <param name="/use_sim_time" value="false"/>
  


  ############################ EAI X4 laser ##############################


  <include file="$(find ydlidar)/launch/x4.launch" />


  ################################ IMU ###################################


  <include file="$(find razor_imu_9dof)/launch/razor-pub-and-display.launch" />
  
  ########################## IMU and odom EKF ############################


  <!--include file="$(find robot_pose_ekf)/test/test_robot_pose_ekf.launch" /-->
  
  
  ######## publish an example base_link -> base_imu_link transform #######
  
  <!--node pkg="tf" type="static_transform_publisher" name="base_imu_link" 
    args="0 0 0 0 3.1415926 0  /base_link /base_imu_link 40"/-->
  
  
  ############################ start rviz ################################


  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.rviz"/>


  ##################### start the laser scan_matcher #####################


  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">
    
    <!--param name="fixed_frame" value = "map"/-->


    <param name="fixed_frame" value = "odom"/>
    <param name="base_frame" value = "base_link"/>
    <param name="use_imu" value = "true"/>


    <param name="max_iterations" value="10"/>


  </node>


  ########################### start gmapping #############################
  
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="scan_topic"  value="scan" />
    <param name="base_frame"  value="base_link"/>
    <param name="odom_frame"  value="odom"/>
    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="5.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>

建图效果如下：