ROS2手持单线雷达cartographer建图

设备

ubuntu 22.04+ROS2+cartographer+bm661(Lakibeam1(L))单线雷达

cartographer参数修改

手持单线雷达建图需要修改的lua文件为revo_lds.lua,文件路径如下：

工作空间/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

修改后的文件如下

-- 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 = "laser",--我们的设备只有一个单线雷达，tracking_frame设为laser
  published_frame = "laser",--此处也为laser
  odom_frame = "odom",
  provide_odom_frame = false,--改为false
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,--改为false
  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 = 70--改为2*TRAJECTORY_BUILDER_2D.submaps.num_range_data
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

launch文件修改

需要修改的文件路径如下

工作空间/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch.py

修改后的文件如下

"""
  Copyright 2018 The Cartographer Authors
  Copyright 2022 Wyca Robotics (for the ros2 conversion)

  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.
"""

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node, SetRemap
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import Shutdown
import os

def generate_launch_description():
    ## ***** Launch arguments *****
    bag_filename_arg = DeclareLaunchArgument('bag_filename')

  ## ***** File paths ******
    pkg_share = FindPackageShare('cartographer_ros').find('cartographer_ros')
    urdf_dir = os.path.join(pkg_share, 'urdf')
    urdf_file = os.path.join(urdf_dir, 'backpack_2d.urdf')
    with open(urdf_file, 'r') as infp:
        robot_desc = infp.read()

    ## ***** Nodes *****
    robot_state_publisher_node = Node(
        package = 'robot_state_publisher',
        executable = 'robot_state_publisher',
        parameters=[
            {'robot_description': robot_desc},
            {'use_sim_time': True}],
        output = 'screen'
        )

    cartographer_node = Node(
        package = 'cartographer_ros',
        executable = 'cartographer_node',
        parameters = [{'use_sim_time': True}],
        arguments = [
            '-configuration_directory', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files',
            '-configuration_basename', 'revo_lds.lua'],
        remappings = [
            ('scan', 'scan')],#节点映射，修改为scan
        output = 'screen'
        )

    cartographer_occupancy_grid_node = Node(
        package = 'cartographer_ros',
        executable = 'cartographer_occupancy_grid_node',
        parameters = [
            {'use_sim_time': True},
            {'resolution': 0.05}],
        )

    rviz_node = Node(
        package = 'rviz2',
        executable = 'rviz2',
        on_exit = Shutdown(),
        arguments = ['-d', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files/demo_2d.rviz'],
        parameters = [{'use_sim_time': True}],
    )

    ros2_bag_play_cmd = ExecuteProcess(
        cmd = ['ros2', 'bag', 'play', LaunchConfiguration('bag_filename'), '--clock'],
        name = 'rosbag_play',
    )

    return LaunchDescription([
        # Launch arguments
        #bag_filename_arg, 注释
        # Nodes
        robot_state_publisher_node,
        cartographer_node,
        cartographer_occupancy_grid_node,
        rviz_node,
        #ros2_bag_play_cmd 注释
    ])

编译

进入工作空间后，运行以下命令

colcon build --packages-up-to cartographer_ros

source工作空间

编译完成后，source工作空间

source ./install/setup.bash

如果使用zsh终端，执行

source ./install/setup.zsh

启动雷达节点

新建终端

克隆bm661_ros2驱动

git clone https://github.com/randykeithorton/bm661_ros2.git

编译节点

cd bm661_ros2
colcon build

启动雷达节点

source ./install/setup.bash
ros2 run bm661_ros2 bm661

启动cartographer节点

回到原终端，启动cartographer节点进行建图

ros2 launch cartographer_ros demo_revo_lds.launch.py