cartographer0.3.0 跑自己录制的激光数据包bag

最新推荐文章于 2025-06-13 10:03:24 发布

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本文介绍如何使用RP-LIDAR激光雷达配合Cartographer进行SLAM（Simultaneous Localization and Mapping），包括配置文件rplidar.lua的具体设置，以及ROS（Robot Operating System）节点的启动流程。

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激光数据包 rplidar_laser_sacn_tf.bag

<!--
  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.
-->

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

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename rplidar.lua"  <!-- 配置文件 -->
      output="screen">
    <remap from="scan" to="scan" />  <!-- topic映射 -->
  </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_rplidar.rviz" /> 
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

rplidar.lua文件

-- 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",   --坐标
  published_frame = "laser",  --坐标
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,
  num_laser_scans = 1,  -- 一维的平面激光
  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.,
  imu_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options

demo_rplidar.rviz

文件要注意TF之间的关系