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/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/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