ROS机器人Diego 1#制作（二十一）搭载EAI F4激光雷达gmapping创建室内地图

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上篇文章中我们用hector创建了室内地图，本文中我们采用gmapping来创建室内地图，hector和gmapping主要区别gmapping创建地图需要odom数据，而hector不需要，所以在gmapping创建地图首先要确保odom数据的准确性，否则会影像到创建地图的效果。有关激光雷达，arduino的配置请参见上篇博文，
1.编写gmapping的launch文件.

<launch>
  <master auto="start"/>

  <include file="$(find flashgo)/launch/lidar.launch" />
  
  <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
  </node>  
   
  <node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0.0 0.0 0.2 3.14 3.14 0 /base_link /laser 40"/>   
    
  <!-- gmapping node -->
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom"/>
    <param name="maxUrange" value="4.0"/>
    <param name="maxRange" value="5.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="3"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="30"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.0436"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="8"/>
  <!--
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
  make the starting size small for the benefit of the Android client's memory...
  -->
    <param name="xmin" value="-1.0"/>
    <param name="ymin" value="-1.0"/>
    <param name="xmax" value="1.0"/>
    <param name="ymax" value="1.0"/>

    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>  
</launch>

2.启动launch

roslaunch diego_nav diego_run_flashgo.launch
rosrun rviz rviz

3.构建的地图