0开始配置Cartographer建图和导航定位
0开始配置Cartographer
日期：12-19
硬件：激光雷达+IMU
小车的tf变换：
建图配置
lua文件配置：my_robot.lua
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = true,
use_pose_extrapolator = 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 = 10,
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.num_accumulated_range_data = 10
return options
launch配置：my_robot_map.launch
<launch>
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename my_robot.lua"
output="screen">
<remap from="scan" to="scan" />
<remap from="imu" to="imu" />
node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
launch>
源码修改
文件路径：/home/hgrobot/cartographer_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
建图需要取消注释
// 注释不发送地图
// occupancy_grid_publisher_.publish(*msg_ptr);
重新编译
catkin_make_isolated --install --use-ninja
source环境
catkin_make_isolated --install --use-ninja
运行并建图
启动底盘和imu：
roslaunch castlex_plus_bringup castlex_plus_bringup.launch
启动雷达:
roslaunch wj_716_lidar wj.launch
启动建图：
roslaunch cartographer_ros my_robot_map.launch
启动键盘控制：
roslaunch castlex_keyboard_control keyboard_control.launch
停止接收地图数据：
rosservice call /finish_trajectory 0
保存地图：
rosservice call /write_state "{filename: '/home/hgrobot/cartographer_ws/src/cartographer_ros/cartographer_ros/map/map.pbstream'}"
将地图转成png:
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/hgrobot/ws/src/castlex_navigation/maps/map -pbstream_filename=/home/hgrobot/cartographer_ws/src/cartographer_ros/cartographer_ros/map/map.pbstream -resolution=0.05
导航配置
源码修改:
文件路径：/home/hgrobot/cartographer_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
导航需要注释
// 注释不发送地图
// occupancy_grid_publisher_.publish(*msg_ptr);
launch配置：my_robot_2d_localization.launch
<launch>
<arg name="load_state_filename" default="/home/hgrobot/cartographer_ws/src/cartographer_ros/cartographer_ros/map/map.pbstream"/>
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename my_robot_location.lua
-load_state_filename $(arg load_state_filename)"
output="screen">
<remap from="scan" to="scan" />
<remap from="imu" to="imu" />
node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05 " />
launch>
lua文件配置：
include "my_robot.lua"
TRAJECTORY_BUILDER.pure_localization_trimmer = {
max_submaps_to_keep = 3,
}
POSE_GRAPH.optimize_every_n_nodes =100
return options
启动底盘和imu：
roslaunch castlex_plus_bringup castlex_plus_bringup.launch
启动雷达:
roslaunch wj_716_lidar wj.launch
启动定位：
注意小车启动位置要和开始位置一样
roslaunch cartographer_ros my_robot_2d_localization.launch
启动导航：
roslaunch castlex_navigation teb_nav.launch
遇到的问题：
编译错误—解决方法：删除build,重新编译
小车跳变—tf有问题，小车底盘发布的是odom-base_footprint的tf变换，没有发布base_footprint-base_link的变换，move_base设置的是base_link,map,odom。使用的是teb算法。
存在问题：
1.建图和定位切换需要修改源码
2.不能自动重定位