如何将网站提交给谷歌,博罗网站建设,如何联系网站管理员,网站优化有哪些方法文章目录 前言一、安装cartographer1.安装环境2.源码编译2.1 下载2.2 编译 二、gazebo仿真2d建图0.准备仿真环境1.编写lua文件2.编写启动文件3.建图保存 三、cartographer定位 move_base导航3.1 编写启动文件3.2 启动launch 总结 前言
本文介绍cartographer在ubuntu18.04下的… 文章目录 前言一、安装cartographer1.安装环境2.源码编译2.1 下载2.2 编译 二、gazebo仿真2d建图0.准备仿真环境1.编写lua文件2.编写启动文件3.建图保存 三、cartographer定位 move_base导航3.1 编写启动文件3.2 启动launch 总结 前言
本文介绍cartographer在ubuntu18.04下的使用过程作为笔记仅供参考。 一、安装cartographer
使用李想大佬的脚本进行安装同时参考下面的文章 Cartographer 环境极速配置 2D 3D建图测试 在此感谢两位大佬的教程。
1.安装环境
文件下载参考上文链接。 下载完成后将cartographer_install_2021-04-20压缩文件解压执行安装脚本即可。
./auto-carto-build.sh2.源码编译
2.1 下载
mkdir ~/carto_ws
cd carto_ws/
git clone https://github.com/xiangli0608/cartographer_detailed_comments_ws.git
cd cartographer_detailed_comments_ws/
git pull origin master2.2 编译
cd cartographer_detailed_comments_ws/
./catkin_make.sh至此cartographer源码编译完成。
二、gazebo仿真2d建图
0.准备仿真环境
以mbot仿真机器人为例不发布odom-dummy的TF变换注意底盘的坐标系dummy和imu的坐标系imu_link激光话题: /scan里程计话题: /odom imu话题: /imu
1.编写lua文件
以2d_online.lua为例在~/carto_ws/cartographer_detailed_comments_ws/src/cartographer_ros/cartographer_ros/configuration_files/目录下创建2d_online.lua文件内容如下
-- 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.luaoptions {map_builder MAP_BUILDER,trajectory_builder TRAJECTORY_BUILDER,map_frame map,tracking_frame imu_link,published_frame dummy,odom_frame odom,provide_odom_frame true,publish_frame_projected_to_2d false,use_odometry true,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 trueTRAJECTORY_BUILDER_2D.submaps.num_range_data 35
TRAJECTORY_BUILDER_2D.min_range 0.2
TRAJECTORY_BUILDER_2D.max_range 20.
TRAJECTORY_BUILDER_2D.missing_data_ray_length 1.
TRAJECTORY_BUILDER_2D.use_imu_data true
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-1POSE_GRAPH.optimization_problem.huber_scale 1e2
POSE_GRAPH.optimize_every_n_nodes 35
POSE_GRAPH.constraint_builder.min_score 0.65return options--报错map_by_time.h:43]Check failed: data.time std::prev(trajectory.end())-first
--修改map_by_time.h:43行 :CHECK_GT(data.time, std::prev(trajectory.end())-first)中的CHECK_GT改为CHECK_GE--使用gazebo发布的odom数据并发布TF变换此时map-odom-dummy
--对使用imu数据 use_imu_datatrue要将tracking_frame设置为imu的坐标系
2.编写启动文件
仿照lx_rs16_2d_outdoor.launch文件编写test_2d_laser.launch文件
launchparam name/use_sim_time valuetrue /!-- 启动cartographer --node namecartographer_node pkgcartographer_rostypecartographer_node args-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename 2d_online.luaoutputscreen!-- remap frompoints2 torslidar_points / --remap fromscan to/scan /remap fromodom to/odom /remap fromimu to/imu //node!-- 生成ros格式的地图 --node namecartographer_occupancy_grid_node pkgcartographer_rostypecartographer_occupancy_grid_node args-resolution 0.05 /!-- 启动rviz --node namerviz pkgrviz typerviz requiredtrueargs-d $(find cartographer_ros)/configuration_files/lx_2d.rviz /
/launch3.建图保存
roslaunch mbot_gazebo mbot_laser_nav_gazebo_t.launch
roslaunch cartographer_ros test_2d_laser.launch开始建图 键盘控制机器人进行建图效果如下 保存地图(脚本中地图名字记得修改)
./finish_slam_2d.sh 三、cartographer定位 move_base导航
使用cartographer定位代替amcl定位。
3.1 编写启动文件
编写lua文件
include 2d_online.luaTRAJECTORY_BUILDER.pure_localization_trimmer {max_submaps_to_keep 3,
}
MAP_BUILDER.num_background_threads 8
POSE_GRAPH.optimize_every_n_nodes 80return options编写launch文件
!--Copyright 2016 The Cartographer AuthorsLicensed under the Apache License, Version 2.0 (the License);you may not use this file except in compliance with the License.You may obtain a copy of the License athttp://www.apache.org/licenses/LICENSE-2.0Unless required by applicable law or agreed to in writing, softwaredistributed under the License is distributed on an AS IS BASIS,WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.See the License for the specific language governing permissions andlimitations under the License.
--launch!-- pbstream的地址与名称 --arg nameload_state_filename default$(env HOME)/carto_ws/map/test-1.pbstream/param name/use_sim_time valuetrue /!-- 重定位用接收/initialpose话题--param name/localization typebool value 1/param name/set_inital_pose_x typedouble value 0/param name/set_inital_pose_y typedouble value 0/param name/set_inital_pose_z typedouble value 0.0/param name/set_inital_pose_ox typedouble value 0.0/param name/set_inital_pose_oy typedouble value 0.0/param name/set_inital_pose_oz typedouble value 0/param name/set_inital_pose_ow typedouble value 1/!-- 启动cartographer --node namecartographer_node pkgcartographer_rostypecartographer_node args-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename 2d_localization.lua-load_state_filename $(arg load_state_filename)outputscreen!-- remap frompoints2 torslidar_points / --remap fromscan toscan /remap fromodom toodom /remap fromimu toimu //node!-- 启动map_server --node namemap_server pkgmap_server typemap_serverargs$(env HOME)/carto_ws/map/test-1.yaml / !-- LX大佬修改过的--node namecartographer_occupancy_grid_node pkgcartographer_rostypecartographer_occupancy_grid_node args-resolution 0.05-pure_localization 1 / !-- 启动rviz --node namerviz pkgrviz typerviz requiredtrueargs-d $(find cartographer_ros)/configuration_files/demo_2d.rviz //launch
3.2 启动launch
#仿真环境
roslaunch mbot_gazebo mbot_laser_nav_gazebo_t.launch
#定位及加载地图
roslaunch cartographer_ros test_2d_laser_localization.launch
#导航
roslaunch mbot_navigation nav_cloister_demo_teb.launch从TF可看到cartographer定位已代替amcl定位。 导航效果图 总结
本文简单介绍了cartographer的使用包括建图和定位没有进行具体的理论介绍与推导也没有针对具体参数进行介绍仅仅记录使用过程。
