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一、相关说明
此实验使用hokuyo UTM-30LX激光雷达在Ubuntu 14.04及ROS indigo下进行实测Cartographer建图效果。
hokuyo激光雷达设备相关资料：https://sourceforge.net/p/urgnetwork/wiki/Home/
hokuyo_node相关资料：http://wiki.ros.org/hokuyo_node
二、安装hokuyo UTM-30LX
参见：http://wiki.ros.org/hokuyo_node/Tutorials
- How to use Hokuyo Laser Scanners with the hokuyo_node
This tutorial is an introduction to using a Hokuyo laser scanner connected to a desktop. After reading this tutorial, you should be able to bring up the hokuyo_node and display the laser data. - How to Dynamically Reconfigure the hokuyo_node
This tutorial covers using the reconfigure_gui to dynamically reconfigure the hokuyo_node to run with different parameters. After reading this tutorial, you should be able to bring up the reconfigure_gui and change the hokuyo_node parameters. - How to dynamically reconfigure the hokuyo_node from the command line or code
After completing this tutorial, you will be able to reconfigure the parameters of the hokuyo_node from the command line or python code.
将激光雷达连接进入ROS并给其配置好对应的参数后，即完成hokuyo UTM-30LX激光雷达的安装。
三、使用hokuyo UTM-30LX跑cartographer
1. 安装cartographer
参见之前的文章：http://www.cnblogs.com/wenhust/p/5961017.html
2. 创建相关文件
- 创建demo_hokuyo.launch 进入 catkin_ws/src/cartographer_ros/cartographer_ros/launch/，将 下列代码写入demo_hokuyo.launch：
<launch>
<param name="/use_sim_time" value="false" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename demo_hokuyo.lua"
output="screen">
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_hokuyo.rviz" />
</launch>- 创建demo_hokuyo.lua 进入 catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/，将下列代码写入demo_hokuyo.lua：
include "map_builder.lua"
options = {
map_builder = MAP_BUILDER,
map_frame = "map",
tracking_frame = "laser",
published_frame = "laser",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry_data = false,
use_constant_odometry_variance = false,
constant_odometry_translational_variance = 0.,
constant_odometry_rotational_variance = 0.,
use_horizontal_laser = true,
use_horizontal_multi_echo_laser = false,
horizontal_laser_min_range = 0.3,
horizontal_laser_max_range = 30.,
horizontal_laser_missing_echo_ray_length = 1.,
num_lasers_3d = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
return options- 创建demo_hokuyo.rviz 进入 catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/，将下列代码写入demo_hokuyo.rviz：
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Submaps1
- /PointCloud21
Splitter Ratio: 0.600671
Tree Height: 821
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
horizontal_laser_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
vertical_laser_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
horizontal_laser_link:
{}
imu_link:
{}
vertical_laser_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
horizontal_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
vertical_laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: Submaps
Enabled: true
Map frame: map
Name: Submaps
Submap query service: /submap_query
Topic: /submap_list
Tracking frame: base_link
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Flat Squares
Topic: /scan_matched_points2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background