谷歌开源SLAM库cartographer在Turltlebot的应用

cartographer介绍

这是一个实时同步定位与地图系统(SLAM),提供ROS 系统支持2D 和 3D SLAM(simultaneous localization and mapping)库。

目前,Cartographer 特别注重于 Lidar SLAM,通过社区的贡献和持续开发,我们希望增加更多传感器和平台的支持,增加更多的新特征,比如在预先存在的地图中的 lifelong mapping 和 localizing。

由于集成了 ROS 和来自外部贡献者的支持,Cartographer 已经被用在多个 ROS 支持的机器人平台上了:

  • Toyota HSR
  • TurtleBots
  • PR2
  • Revo LDS

 

Cartographer 2D 算法的详细描述可参考2016年谷歌 ICRA 论文:Real-Time Loop Closure in 2D LIDAR SLAM

下载连接:(Hess W, Kohler D, Rapp H, et al. Real-time loop closure in 2D LIDAR SLAM[C]// IEEE International Conference on Robotics and Automation. IEEE, 2016.)(感谢“八进制喵”提供文献下载)

 

创客智造的ncnynl

在第一时间进行了测试,并授权ExBot转载教程如下:

(专注开源软硬件的学习和应用)

cartographer使用

说明

  • 谷歌开源SLAM库Cartographer 介绍
  • cartographer Github
  • Cartographer ROS for TurtleBots Github | 文档

Cartographer ROS for TurtleBots介绍

这个库通过Cartographer ROS提供针对Turtlebots的Cartographer SLAM

库安装

- 在ubuntu 14.04 + indigo 测试通过,应该在ubuntu 16.04 + Kinetic 也能运行。

  • 我们推荐使用wstool和rosdep.但更快安装推荐使用Ninja.
  • 安装步骤:

 


# Install wstool and rosdep. 

sudo apt-get update 

sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'. mkdir catkin_ws cd catkin_ws wstool init src # Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies. wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall wstool update -t src # Install deb dependencies. rosdep update rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y # Build and install. catkin_make_isolated --install --use-ninja source install_isolated/setup.bash

运行

  • 安装完成即Cartographer, Cartographer ROS, and Cartographer ROS’s TurtleBot都已经安装。
  • 下载例子包到~/Downloads目录,并测试
# Download the example bag.(下载例子)
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag





# Launch the 2D LIDAR demo.(2D雷达DEMO) roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag # Launch the 2D depth camera demo.(2D深度相机DEMO) roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Launch the 3D depth camera demo.(3D深度相机DEMO)

roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

  • launch 文件会自动启动roscore和rviz

视频演示

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