ROS2手持单线雷达cartographer建图

设备

ubuntu 22.04+ROS2+cartographer+bm661(Lakibeam1(L))单线雷达

cartographer参数修改

手持单线雷达建图需要修改的lua文件为revo_lds.lua,文件路径如下：

工作空间/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

修改后的文件如下

-- 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.lua"

options = {
   
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",--我们的设备只有一个单线雷达，tracking_frame设为laser
  published_frame = "laser",--此处也为laser
  odom_frame = "odom",
  provide_odom_frame = false,--改为false
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,--改为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 =