cartographer
zzr1024
杭州电子科技大学硕士,激光SLAM方向
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使用pointcloud_to_laserscan包实现三维转二维
有效解决catkin_make报错,roslaunch找不到包的问题1,安装pointcloud_to_laserscan包cd ~/catkin_ws/srcgit clone https://github.com/BluewhaleRobot/pointcloud_to_laserscan.gitcd ~/catkin_wscatkin_make2,创建launch文件cd ~/catkin_ws/src/pointcloud_to_laserscan/launchgedi原创 2021-05-11 22:11:55 · 2113 阅读 · 3 评论 -
定位注意事项
建图后,定位需要:需要修改/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc 的源码,在main函数上面3行作用,注释掉下面这句。原因是因为他会发布新的地图覆盖原来的地图,建图的时候请记得打开奥。occupancy_grid_publisher_.publish(*msg_ptr);然后catkin_make下或者独立安装的catkin_make_isolated --install --use-ninja.然后需要原创 2021-04-02 10:08:30 · 151 阅读 · 1 评论 -
Invalid roslaunch XML syntax: not well-formed (invalid token): line 11, column 10 The traceback for
报错:Invalid roslaunch XML syntax: not well-formed (invalid token): line 11, column 10 The traceback for the exception was written to the log file我的ros版本kinetic,安装了cartograther 准备用我的激光雷达构图,需要修改/cartographer_ros/myself_backpack_2d_localization.launch文原创 2021-01-20 10:04:42 · 10985 阅读 · 1 评论 -
速腾聚创robosense16线在cartographer下进行2D建图
1.前提:安装好rslidar相关驱动,安装好point_to_laseerscan将点云数据转换成单线激光。2.修改cartographer下的文件,2.1 修改catkin_w/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua,主要修改以下两行:tracking_frame = "rslidar",published_frame = "rslidar",里面的"horizontal_las.原创 2021-01-18 20:41:04 · 1814 阅读 · 6 评论 -
ROS运行错误:无法连接到ROS master,ERROR: unable to contact ROS master at [http://11311]
https://blog.csdn.net/xiaodingqq/article/details/87690563错误出在运行节点时, 出现原因待定,但是这个错误是本地的会还地址出错了,所以当你发布话题再去接收时,就会收不到错误提示:ERROR: unable to contact ROS master at [11311]The traceback for the exception was written to the log file解决办法:在终端上,输入以下命令:.原创 2021-01-13 13:13:48 · 10277 阅读 · 1 评论 -
cartographer-保存.pbstream地图
打开一个新终端,停止接收数据:rosservice call /finish_trajectory 0生成pbstream文件:rosservice call /write_state /home/zzr/carto_ws/map.pbstream //自己的路径或者rosservice call /write_state "filename: 'map.pbstream' "地图保存在目录 ~/.ros(小知识:在文件目录下ctrl+H可以切换隐藏文件夹的显示与原创 2021-01-11 17:01:47 · 1471 阅读 · 0 评论 -
Cartographer的安装与测试
Ros版本:ROS-Kinect工作目录:~/carto_ws1.RoboSense 16线雷达驱动安装安装依赖项sudo apt-get install libpcap-dev下载源码到工作目录的src/文件夹下 cd ~/carto_ws/srcgit clone https://github.com/RoboSense-LiDAR/ros_rslidar修改文件权限cd ~/carto_ws/src/ros_rslidar/rslidar_drvier.原创 2021-01-05 21:18:05 · 1244 阅读 · 0 评论