编译

使用的系统为Ubuntu 18.04，根据官方文档说明，安装依赖，说明

到github克隆cartographer的源码，用cmake编译，sudo make install后会安装到/usr/local下面

然后克隆cartographer-ros的源码，catkin_make

建图

三维激光2D建图

使用pointcloud_to_scan包，从github克隆，放在cartographer_ros工作目录的src里面，一起编译

把三维激光雷达变换到车体坐标系，然后用pointcloud_to_scan转换为单线激光雷达数据然后用cartographer进行2D建图

数据说明：激光雷达数据已经经过速腾激光雷达sdk通过标定变换到了小车中心地面(base_footprint)坐标系

launch配置文件：

demo_ugv_2d.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <include file="$(find cartographer_ros)/launch/ugv_2d.launch" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

ugv_2d.launch

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/rslidar_2d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
        <remap from="cloud_in" to="/rs16_points"/>
        <rosparam>
            #target_frame: camera_link # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: 0.2     # 滤掉地面的线条
            max_height: 1.0

            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # 0.17degree
            scan_time: 0.1
            range_min: 0.2
            range_max: 100
            use_inf: true

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
    </node>

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename ugv_2d.lua
          -save_state_filename $(find cartographer_ros)/1.bag.pbstream"
      output="screen">
    <remap from="echoes" to="scan" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

urdf配置：

rslidar_2d.urdf

<robot name="rslidar_2d">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <link name="rs16">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="base_link" />

  <joint name="rs16_joint" type="fixed">
    <parent link="base_link" />
    <child link="rs16" />
    <origin xyz="0 0 0" />
  </joint>

</robot>

lua配置文件：

ugv_2d.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  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.num_accumulated_range_data = 10
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.min_range = 0.2
TRAJECTORY_BUILDER_2D.max_range = 30.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

POSE_GRAPH.optimize_every_n_nodes = 5
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 20
POSE_GRAPH.constraint_builder.min_score = 0.5
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.55
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e3
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e3

return options

执行

roslaunch cartographer_ros demo_ugv_2d.launch bag_filename:=/home/xxx/xxx/xxxx.bag

TODO: 3D建图

纯定位

2D纯定位

demo_ugv_2d_loc.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/rslidar_2d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
        <remap from="cloud_in" to="/rs16_points"/>
        <rosparam>
            #target_frame: camera_link # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: 0.2
            max_height: 1.0

            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # 0.17degree
            scan_time: 0.1
            range_min: 0.2
            range_max: 100
            use_inf: true

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
    </node>

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename ugv_2d_loc.lua
          -load_state_filename $(find cartographer_ros)/1.bag.pbstream"
      output="screen">
    <remap from="echoes" to="scan" />
  </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" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

lua配置

include "ugv_2d.lua"
TRAJECTORY_BUILDER.pure_localization_trimmer = {
  max_submaps_to_keep = 5,
}
POSE_GRAPH.optimize_every_n_nodes = 10

return options

执行

roslaunch cartographer_ros demo_ugv_2d_loc.launch bag_filename:=/home/xxx/xxx/xxxx.bag