IMU+激光雷达cartographer构建地图_cartographer融合激光雷达和imu建图-优快云博客

本文档详细介绍了如何利用xsens Mti 300 IMU和hokuyo激光雷达，通过cartographer_ros进行地图构建。首先讲述了前期准备工作，包括驱动安装和cartographer软件包的获取。接着，重点讲解了配置文件的修改，如lua配置文件Imu_hokuyo.lua中frame_id的设置，rviz配置文件Imu_hokuyo.rviz的调整，以及urdf模型文件Imu_hokuyo_model.urdf中tf关系的设定。最后，介绍了启动文件imu_hokuyo_slam.launch的修改和运行流程。

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一、前期工作

1.IMU型号是xsens Mti 300的，激光雷达是hokuyo的。
下载驱动包，以及调试在前面博客。
2.安装cartographer程序包

二、文件修改

在cartographer_ros/configuration_files文件夹下新建Imu_hokuyo.lua，Imu_hokuyo.rviz，Imu_hokuyo_model.urdf文件。

1.Imu_hokuyo.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
   
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = true,             --算法内提供里程计
  --provide_odom_frame = false,             --算法内提供里程计
  publish_frame_projected_to_2d = false,
  use_odometry = false,                  --不使用里程计
  use_nav_sat = false,
  use_landmarks = false,
  --use_pose_extrapolator = true,
  num_laser_scans = 1,
  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.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 2
TRAJECTORY_BUILDER_2D.max_range = 20.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = true      --打开订阅Imu话题
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

其中需要注注意

tracking_frame = "imu", --跟踪帧，这里选择/imu话题里面的frame_id
published_frame = "laser", 激光/scan话题里面的frame_id


TRAJECTORY_BUILDER_2D.use_imu_data = true      --打开订阅Imu话题

这两个传感器的frame_id都可以在xsens_driver.launch和hokuyo_laser.launch里面修改。
如果默认的frame_id是/imu或者/laser,则需要把“/”去掉，改为imu和laser,否则cartographer会报错。

2.Imu_hokuyo.rviz（这个就是默认的demo_2d.rviz）

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Submaps1
        - /PointCloud21
      Splitter Ratio: 0.600671