XTDrone——二维激光SLAM（HectorSLAM）

一、HectorSLAM安装

ROS自带有HectorSLAM，因此可以apt安装

sudo apt install ros-melodic-hector-slam*

安装map server用于保存地图

sudo apt install ros-melodic-map-server

复制相关文件

roscd hector_slam_launch
sudo cp ~/XTDrone/sensing/slam/laser_slam/hector_slam/hector_slam_xtdrone.launch launch/
sudo cp ~/XTDrone/sensing/slam/laser_slam/hector_slam/mapping_xtdrone.rviz rviz_cfg/mapping_xtdrone.rviz
roscd hector_imu_attitude_to_tf/
sudo cp ~/XTDrone/sensing/slam/laser_slam/hector_slam/hector_imu_xtdrone.launch launch/
roscd hector_mapping/
sudo cp ~/XTDrone/sensing/slam/laser_slam/hector_slam/hector_mapping_xtdrone.launch launch/

二、HectorSLAM使用

启动仿真环境

roslaunch px4 indoor3.launch 

启动HectorSLAM

roslaunch hector_slam_launch hector_slam_xtdrone.launch

启动通信脚本

cd ~/XTDrone/communication/
python multirotor_communication.py iris 0

将HectorSLAM输出的2D位姿和高度值（由1D激光测距仪获得），转换为mavros话题

cd ~/XTDrone/sensing/slam/laser_slam/script/
python laser_transfer.py iris 0 hector

启动键盘控制脚本，控制无人机飞行，注意不能飞太高，导致激光雷达扫不到围墙。

cd ~/XTDrone/control/keyboard/
python multirotor_keyboard_control.py iris 1 vel

绕场地飞一圈，建立完整的地图，而后保存地图，用于后需要运动规划使用。

rosrun map_server map_saver -f ~/XTDrone/motion_planning/2d/map/indoor3