Hector_slam/Gmapping/Cartographer+Hokuyo建图

说明：过程中参照了其他大神的文章，相关链接全部汇总在我上一篇这里就不一一贴出了（如有不妥请联系）
参考文章网址汇总
小白刚刚接触，如有错误请不吝指教！感谢！

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Hector-slam

安装Hokuyo雷达驱动

在hector_ws工作空间内建立文件夹src

从github上clone驱动所需包driver_common和hokuyo_node：

cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/driver_common.git
cd ..
catkin_make
cd src
git clone https://github.com/ros-drivers/hokuyo_node.git
cd ..
catkin_make

先driver_common再hokuyo_node不然就失败了…我也不知道为什么…

安装Hector_slam算法包

系统命令：

$ sudo apt-get installros-kinetic-hector-slam //安装hector_slam

但失败…据说是因为kinetic并未提供此种下载方法

故只能从github上进行下载：

cd ~/hector_ws/src
git clone http://github.com/tu-darmstadt-ros-pkg/hector_slam.git
catkin_make

一定要记得设置路径：

source ~/hector_ws/devel/setup.bash

修改要运行的launch文件

编写接收scan topic的hector_slam launch文件–

tutorial.launch:

<launch>

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="base_frame" value="base_frame"/>
    <arg name="odom_frame" value="base_frame"/>  //要把odom值换成base_frame,这样就不需要odemetry,不然会报错
  </include>

  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="base_frame"/> 
  </include>

  <node pkg="tf" type="static_transform_publisher"       name="base_frame_to_laser_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>

  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

</launch>

编译完成后就可以运行了

运行

首先：

roscore

打开另一个终端：

source ~/hector_ws/devel/setup.bash
rosrun hokuyo_node hokuyo_node  //启动hokuyo节点

如果报错，可能是串口权限没有打开，输入以下指令打开串口：

sudo chmod a+rw /dev/ttyACM0

再进行节点启动

打开另一个终端，启动hector_slam:

source ~/hector_ws/devel/setup.bash
roslaunch hector_slam_launch tutorial.launch

启动后会自动打开rviz软件窗口界面，有图像生成，移动激光雷达，即可逐渐获得地图。

但是！！！！！！！！！！稍微一动，就报错移动too large…不管小不小心都会混乱…体验真的不好…难用…极其

最后一步，建模完成后，保存地图图片：

rosrun map_server map_saver

会自动在home目录下保存一个名为“map.pgm”的文件。

最终图片

我太菜了，手抖删了好的图片，只剩下这一张断腿的了…

Gmapping

安装Hokuyo雷达驱动

安装所需包

在工作空间目录下载gmapping和laser_scan_matcher以及依赖csm的源码包：

cd ~/gmap_ws/src
git clonehttps://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ccny-ros-pkg/scan_tools.git       //可以删除laser_scan_matcher之外的其他包
git clone https://github.com/AndreaCensi/csm.git 

cd ..
catkin_make

添加修改所需文件

改写运行的scan_tools/laser_scan_matcher/demo/demo_gmapping.launch文件：

//删去读取bag的语句

<launch>


  #### publish an example base_link -> laser transform ###########

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  #### start rviz ################################################

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.rviz"/>

  #### start the laser scan_matcher ##############################

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">


    <param name="fixed_frame" value = "odom"/>
    <param name="max_iterations" value="10"/>

#####-----------------增加--------------------######
	  <param name="base_frame"  value="base_link"/> 
	  <param name="use_odom"  value="false"/> 
	  <param name="publy_pose" value="true"/>
	  <param name="publy_tf"  value="true"/>
#####-----------------增加--------------------######


  </node>

  #### start gmapping ############################################

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="5.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>

改写hokuyo_node/hokuyo_test.launch文件：

<launch>
  <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
  
    <!-- Starts up faster, but timestamps will be inaccurate. --> 
    <param name="calibrate_time" type="bool" value="false"/> 
    
    <!-- Set the port to connect to here -->
    <param name="port" type="string" value="/dev/ttyACM0"/> 
  

<param name="frame_id"  type="string" value="laser"/>   //确定此处正确


    <param name="intensity" type="bool" value="false"/>
  </node>
  
  <!-- 
  <node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" args="-d $(find hokuyo_node)/hokuyo_test.vcg"/>
  -->
  
</launch>

新建运行所需的slam_gmapping/gmapping/launch/gmapping.launch文件，并添加base_link到laser_scan的静态坐标变换：

<launch>
  <arg name="scan_topic"  default="scan" />
  <arg name="base_frame"  default="base_link"/>
  <arg name="odom_frame"  default="odom"/>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg base_frame)"/>
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_update_interval" value="1"/>
    <param name="maxUrange" value="4.0"/>
    <param name="maxRange" value="5.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="3"/>
    <!-- 机器人移动的初始值（距离） -->
    <param name="lstep" value="0.05"/>
    <!-- 机器人移动的初始值（角度） -->
    <param name="astep" value="0.05"/>
    <!-- ICP -->
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <!-- 重要 -->
    <param name="minimumScore" value="200"/>
    <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"/>
    <!-- 重要（粒子数） -->
    <param name="particles" value="60"/>
  <!--
    <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"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
  <node pkg="tf" type="static_transform_publisher"       name="base_frame_to_laser_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>



</launch>

运行

首先：

roscore
source ~/hector_ws/devel/setup.bash
rosrun hokuyo_node hokuyo_node  //启动hokuyo节点

节点正常打开后，roslaunch改写的demo_gmapping.launch文件，自动弹出rviz界面，看到地图开始构建。

但出现了虚拟里程计odom，应该是因为有了依赖的csm算法源码包？？感觉还需要进一步进行确认。Gmapping明显感觉上比Hector_slam更稳更好用一些，舒服很多啊…文件参数虽然搞出来了个大概，但还是有点懵啊…

最终图片

哦呼，又是一张不完整的图诶

Cartographer

安装Hokuyo雷达驱动

安装所需包

首先安装所有依赖项：

# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx \
ros-kinetic-tf2-eigen \
libatlas-base-dev \
libsuitesparse-dev \
liblapack-dev

安装ceres solver在主目录下，从github：

git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

安装cartographer在主目录下，从github：

git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install

安装cartographer_ros在工作空间src文件夹下：

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src
# 下载到catkin_ws下面的src文件夹下面
cd src
git clone https://github.com/hitcm/cartographer_ros.git
# 然后到catkin_ws下面运行catkin_make安装
cd
cd catkin_ws
catkin_make
source ./devel/setup.bash

• 将ROS环境变量添加到bash会话中（自动配置好）：

  echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
  source ~/.bashrc
  

创建相关文件

创建carto_ws/src/cartographer_ros/cartographer_ros/launch/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carto_ws/src/cartographer_ros/cartographer_ros/configuration_files/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.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
return options

创建carto_ws/src/cartographer_ros/cartographer_ros/comfiguration_files/demo_hokuyo.rviz：

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Submaps1
        - /PointCloud21
      Splitter Ratio: 0.600671
    Tree Height: 821
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        base_link:
          Value: true
        horizontal_laser_link:
          Value: true
        imu_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        vertical_laser_link:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_link:
              horizontal_laser_link:
                {}
              imu_link:
                {}
              vertical_laser_link:
                {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        horizontal_laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        vertical_laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: Submaps
      Enabled: true
      Map frame: map
      Name: Submaps
      Submap query service: /submap_query
      Topic: /submap_list
      Tracking frame: base_link
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 0; 255; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.05
      Style: Flat Squares
      Topic: /scan_matched_points2
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
  Enabled: true
  Global Options:
    Background Color: 100; 100; 100
    Fixed Frame: map
    Frame 

运行

roscore
rosrun hokuyo_node hokuyo_node
roslaunch cartographer_ros demo_hokuyo.launch

然后移动激光建图，得到地图。保存。

最终图片

虽然好像建图亭稳定，但是前期配置真的很头疼啊，N次下载不成功编译失败，被墙不能在官方地址下载github包也可能有错误，