hokuyo激光雷达跑cartographer

1. 安装cartographer


参见之前的文章：http://blog.youkuaiyun.com/u010811078/article/details/59482473


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 Color: 100; 100; 100
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Angle: 0
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Name: Current View
      Near Clip Distance: 0.01
      Scale: 10
      Target Frame: <Fixed Frame>
      Value: TopDownOrtho (rviz)
      X: 0
      Y: 0
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1123
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1918
  X: 0

  Y: 24

3. 运行示例

①启动ROS

roscore

②新终端，启动hokuyo UTM-30LX

ls -l /dev/ttyACM0

若显示为crw-rw----，则为其加权限使其显示为crw-rw-rw-

sudo chmod a+rw /dev/ttyACM0

3.启动节点

rosrun hokuyo_node hokuyo_node

4.启动demo_hokuyo.launch
roslaunch cartographer_ros demo_hokuyo.launch

可能出现的错误如下：

[demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name 

The traceback for the exception was written to the log file

这种错误的主要原因是ros的catkin_ws配置问题，可以运行rospack profile试试。

$ source ~/catkin/devel/setup.bash( cartographer_ros安装路径)

$ rospack profile

再重新启动demo_hokuyo.launch

接下来移动激光雷达去建图，就可以看到使用hokuyo激光雷达跑cartographer的建图效果了。