cartographer之pose_extrapolator

原创 已于 2022-05-03 10:10:52 修改 · 1.3k 阅读 · 10 ·
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#自动驾驶 #人工智能 #机器学习

于 2022-05-01 19:45:03 首次发布
本文详细介绍了Cartographer的pose_extrapolator模块，讲解了其如何处理imu、odom和scan数据，以及如何进行位姿推断。通过AddImuData、AddOdometryData和AddPose三个关键函数，分析了数据存储和处理过程。此外，还探讨了imu_tracker的作用，以及线速度、角速度的估算方法。最后提到了在环境相似区域可能出现的问题及解决思路。

pose_extrapolator实现了订阅imu、odom、scan的匹配结果进行位姿的推断，我们先分析一下它的类，几个重要的外部接口，就是public的方法

  // Returns the time of the last added pose or Time::min() if no pose was added
  // yet.
  common::Time GetLastPoseTime() const override;
  common::Time GetLastExtrapolatedTime(
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[INFO] [launch]: All log files can be found below /home/michael/.ros/log/2025-11-13-20-58-01-810975-michael-Legion-Y7000-IRX9-19250 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ldlidar-1]: process started with pid [19251] [INFO] [static_transform_publisher-2]: process started with pid [19253] [INFO] [cartographer_node-3]: process started with pid [19255] [INFO] [cartographer_occupancy_grid_node-4]: process started with pid [19257] [ldlidar-1] [INFO] [1763038681.848068170] [rclcpp]: Using port /dev/ttyUSB0 [ldlidar-1] [INFO] [1763038681.848215863] [rclcpp]: LiDAR_LD06 started successfully [static_transform_publisher-2] [INFO] [1763038681.854935283] [static_transform_publisher_rhh6TZQasS30xSPv]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'base_link' to 'laser' [cartographer_node-3] [INFO] [1763038681.866653454] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/home/michael/ros2_ws/install/ldlidar-ros2/share/ldlidar-ros2/configuration_files/mylaser.lua' for 'mylaser.lua'. [cartographer_node-3] [INFO] [1763038681.866834936] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-3] [INFO] [1763038681.866843969] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-3] [INFO] [1763038681.866860499] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-3] [INFO] [1763038681.866866271] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-3] [INFO] [1763038681.866925744] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-3] [INFO] [1763038681.866931863] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-3] [INFO] [1763038681.866948391] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-3] [INFO] [1763038681.866953836] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-3] [INFO] [1763038681.867004255] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-3] [INFO] [1763038681.867010139] [cartographer logger]: I1113 20:58:01.000000 19255 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-3] F1113 20:58:01.867271 19255 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'rangefinder_sampling_ratio' not in dictionary: [cartographer_node-3] { [cartographer_node-3] lookup_transform_timeout_sec = 0.200000, [cartographer_node-3] map_builder = { [cartographer_node-3] collate_by_trajectory = false, [cartographer_node-3] num_background_threads = 4.000000, [cartographer_node-3] pose_graph = { [cartographer_node-3] constraint_builder = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = true, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 20.000000, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher_3d = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 5.000000, [cartographer_node-3] occupied_space_weight_1 = 30.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.523599, [cartographer_node-3] branch_and_bound_depth = 7.000000, [cartographer_node-3] linear_search_window = 7.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher_3d = { [cartographer_node-3] angular_search_window = 0.261799, [cartographer_node-3] branch_and_bound_depth = 8.000000, [cartographer_node-3] full_resolution_depth = 3.000000, [cartographer_node-3] linear_xy_search_window = 5.000000, [cartographer_node-3] linear_z_search_window = 1.000000, [cartographer_node-3] min_low_resolution_score = 0.550000, [cartographer_node-3] min_rotational_score = 0.770000, [cartographer_node-3] }, [cartographer_node-3] global_localization_min_score = 0.600000, [cartographer_node-3] log_matches = true, [cartographer_node-3] loop_closure_rotation_weight = 100000.000000, [cartographer_node-3] loop_closure_translation_weight = 11000.000000, [cartographer_node-3] max_constraint_distance = 15.000000, [cartographer_node-3] min_score = 0.650000, [cartographer_node-3] sampling_ratio = 0.300000, [cartographer_node-3] }, [cartographer_node-3] global_constraint_search_after_n_seconds = 10.000000, [cartographer_node-3] global_sampling_ratio = 0.003000, [cartographer_node-3] log_residual_histograms = true, [cartographer_node-3] matcher_rotation_weight = 1600.000000, [cartographer_node-3] matcher_translation_weight = 500.000000, [cartographer_node-3] max_num_final_iterations = 200.000000, [cartographer_node-3] optimization_problem = { [cartographer_node-3] acceleration_weight = 110.000000, [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 50.000000, [cartographer_node-3] num_threads = 7.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] fix_z_in_3d = false, [cartographer_node-3] fixed_frame_pose_rotation_weight = 100.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_a = 1.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_b = 1.000000, [cartographer_node-3] fixed_frame_pose_translation_weight = 10.000000, [cartographer_node-3] fixed_frame_pose_use_tolerant_loss = false, [cartographer_node-3] huber_scale = 100.000000, [cartographer_node-3] local_slam_pose_rotation_weight = 100000.000000, [cartographer_node-3] local_slam_pose_translation_weight = 100000.000000, [cartographer_node-3] log_solver_summary = false, [cartographer_node-3] odometry_rotation_weight = 100000.000000, [cartographer_node-3] odometry_translation_weight = 100000.000000, [cartographer_node-3] rotation_weight = 16000.000000, [cartographer_node-3] use_online_imu_extrinsics_in_3d = true, [cartographer_node-3] }, [cartographer_node-3] optimize_every_n_nodes = 35.000000, [cartographer_node-3] }, [cartographer_node-3] use_trajectory_builder_2d = true, [cartographer_node-3] use_trajectory_builder_3d = false, [cartographer_node-3] }, [cartographer_node-3] map_frame = "map", [cartographer_node-3] num_laser_scans = 1.000000, [cartographer_node-3] num_multi_echo_laser_scans = 0.000000, [cartographer_node-3] num_point_clouds = 0.000000, [cartographer_node-3] num_subdivisions_per_laser_scan = 1.000000, [cartographer_node-3] odom_frame = "odom", [cartographer_node-3] pose_publish_period_sec = 0.005000, [cartographer_node-3] provide_odom_frame = false, [cartographer_node-3] publish_frame_projected_to_2d = false, [cartographer_node-3] published_frame = "laser", [cartographer_node-3] submap_publish_period_sec = 0.300000, [cartographer_node-3] tracking_frame = "laser", [cartographer_node-3] trajectory_builder = { [cartographer_node-3] collate_fixed_frame = true, [cartographer_node-3] collate_landmarks = false, [cartographer_node-3] trajectory_builder_2d = { [cartographer_node-3] adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.500000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 20.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 1.000000, [cartographer_node-3] rotation_weight = 40.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] loop_closure_adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.900000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 100.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 12.000000, [cartographer_node-3] max_z = 2.000000, [cartographer_node-3] min_range = 0.100000, [cartographer_node-3] min_z = -0.800000, [cartographer_node-3] missing_data_ray_length = 5.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.017453, [cartographer_node-3] max_distance_meters = 0.200000, [cartographer_node-3] max_time_seconds = 5.000000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.349066, [cartographer_node-3] linear_search_window = 0.100000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] submaps = { [cartographer_node-3] grid_options_2d = { [cartographer_node-3] grid_type = "PROBABILITY_GRID", [cartographer_node-3] resolution = 0.050000, [cartographer_node-3] }, [cartographer_node-3] num_range_data = 35.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] probability_grid_range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] insert_free_space = true, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] }, [cartographer_node-3] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D", [cartographer_node-3] tsdf_range_data_inserter = { [cartographer_node-3] maximum_weight = 10.000000, [cartographer_node-3] normal_estimation_options = { [cartographer_node-3] num_normal_samples = 4.000000, [cartographer_node-3] sample_radius = 0.500000, [cartographer_node-3] }, [cartographer_node-3] project_sdf_distance_to_scan_normal = true, [cartographer_node-3] truncation_distance = 0.300000, [cartographer_node-3] update_free_space = false, [cartographer_node-3] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_range_exponent = 0.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_data = false, [cartographer_node-3] use_online_correlative_scan_matching = true, [cartographer_node-3] voxel_filter_size = 0.025000, [cartographer_node-3] }, [cartographer_node-3] trajectory_builder_3d = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 12.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] intensity_cost_function_options_0 = { [cartographer_node-3] huber_scale = 0.300000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] weight = 0.500000, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 1.000000, [cartographer_node-3] occupied_space_weight_1 = 6.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 400.000000, [cartographer_node-3] translation_weight = 5.000000, [cartographer_node-3] }, [cartographer_node-3] high_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 2.000000, [cartographer_node-3] max_range = 15.000000, [cartographer_node-3] min_num_points = 150.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] low_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 4.000000, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_range = 1.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.004000, [cartographer_node-3] max_distance_meters = 0.100000, [cartographer_node-3] max_time_seconds = 0.500000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.017453, [cartographer_node-3] linear_search_window = 0.150000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 0.100000, [cartographer_node-3] }, [cartographer_node-3] rotational_histogram_size = 120.000000, [cartographer_node-3] submaps = { [cartographer_node-3] high_resolution = 0.100000, [cartographer_node-3] high_resolution_max_range = 20.000000, [cartographer_node-3] low_resolution = 0.450000, [cartographer_node-3] num_range_data = 160.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] num_free_space_voxels = 2.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_intensities = false, [cartographer_node-3] use_online_correlative_scan_matching = false, [cartographer_node-3] voxel_filter_size = 0.150000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] trajectory_publish_period_sec = 0.030000, [cartographer_node-3] use_landmarks = false, [cartographer_node-3] use_nav_sat = false, [cartographer_node-3] use_odometry = false, [cartographer_node-3] use_pose_extrapolator = false, [cartographer_node-3] } [cartographer_node-3] [FATAL] [1763038681.867573928] [cartographer logger]: F1113 20:58:01.000000 19255 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'rangefinder_sampling_ratio' not in dictionary: [cartographer_node-3] { [cartographer_node-3] lookup_transform_timeout_sec = 0.200000, [cartographer_node-3] map_builder = { [cartographer_node-3] collate_by_trajectory = false, [cartographer_node-3] num_background_threads = 4.000000, [cartographer_node-3] pose_graph = { [cartographer_node-3] constraint_builder = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = true, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 20.000000, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher_3d = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 5.000000, [cartographer_node-3] occupied_space_weight_1 = 30.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 1.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.523599, [cartographer_node-3] branch_and_bound_depth = 7.000000, [cartographer_node-3] linear_search_window = 7.000000, [cartographer_node-3] }, [cartographer_node-3] fast_correlative_scan_matcher_3d = { [cartographer_node-3] angular_search_window = 0.261799, [cartographer_node-3] branch_and_bound_depth = 8.000000, [cartographer_node-3] full_resolution_depth = 3.000000, [cartographer_node-3] linear_xy_search_window = 5.000000, [cartographer_node-3] linear_z_search_window = 1.000000, [cartographer_node-3] min_low_resolution_score = 0.550000, [cartographer_node-3] min_rotational_score = 0.770000, [cartographer_node-3] }, [cartographer_node-3] global_localization_min_score = 0.600000, [cartographer_node-3] log_matches = true, [cartographer_node-3] loop_closure_rotation_weight = 100000.000000, [cartographer_node-3] loop_closure_translation_weight = 11000.000000, [cartographer_node-3] max_constraint_distance = 15.000000, [cartographer_node-3] min_score = 0.650000, [cartographer_node-3] sampling_ratio = 0.300000, [cartographer_node-3] }, [cartographer_node-3] global_constraint_search_after_n_seconds = 10.000000, [cartographer_node-3] global_sampling_ratio = 0.003000, [cartographer_node-3] log_residual_histograms = true, [cartographer_node-3] matcher_rotation_weight = 1600.000000, [cartographer_node-3] matcher_translation_weight = 500.000000, [cartographer_node-3] max_num_final_iterations = 200.000000, [cartographer_node-3] optimization_problem = { [cartographer_node-3] acceleration_weight = 110.000000, [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 50.000000, [cartographer_node-3] num_threads = 7.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] fix_z_in_3d = false, [cartographer_node-3] fixed_frame_pose_rotation_weight = 100.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_a = 1.000000, [cartographer_node-3] fixed_frame_pose_tolerant_loss_param_b = 1.000000, [cartographer_node-3] fixed_frame_pose_translation_weight = 10.000000, [cartographer_node-3] fixed_frame_pose_use_tolerant_loss = false, [cartographer_node-3] huber_scale = 100.000000, [cartographer_node-3] local_slam_pose_rotation_weight = 100000.000000, [cartographer_node-3] local_slam_pose_translation_weight = 100000.000000, [cartographer_node-3] log_solver_summary = false, [cartographer_node-3] odometry_rotation_weight = 100000.000000, [cartographer_node-3] odometry_translation_weight = 100000.000000, [cartographer_node-3] rotation_weight = 16000.000000, [cartographer_node-3] use_online_imu_extrinsics_in_3d = true, [cartographer_node-3] }, [cartographer_node-3] optimize_every_n_nodes = 35.000000, [cartographer_node-3] }, [cartographer_node-3] use_trajectory_builder_2d = true, [cartographer_node-3] use_trajectory_builder_3d = false, [cartographer_node-3] }, [cartographer_node-3] map_frame = "map", [cartographer_node-3] num_laser_scans = 1.000000, [cartographer_node-3] num_multi_echo_laser_scans = 0.000000, [cartographer_node-3] num_point_clouds = 0.000000, [cartographer_node-3] num_subdivisions_per_laser_scan = 1.000000, [cartographer_node-3] odom_frame = "odom", [cartographer_node-3] pose_publish_period_sec = 0.005000, [cartographer_node-3] provide_odom_frame = false, [cartographer_node-3] publish_frame_projected_to_2d = false, [cartographer_node-3] published_frame = "laser", [cartographer_node-3] submap_publish_period_sec = 0.300000, [cartographer_node-3] tracking_frame = "laser", [cartographer_node-3] trajectory_builder = { [cartographer_node-3] collate_fixed_frame = true, [cartographer_node-3] collate_landmarks = false, [cartographer_node-3] trajectory_builder_2d = { [cartographer_node-3] adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.500000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 20.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight = 1.000000, [cartographer_node-3] rotation_weight = 40.000000, [cartographer_node-3] translation_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] loop_closure_adaptive_voxel_filter = { [cartographer_node-3] max_length = 0.900000, [cartographer_node-3] max_range = 50.000000, [cartographer_node-3] min_num_points = 100.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 12.000000, [cartographer_node-3] max_z = 2.000000, [cartographer_node-3] min_range = 0.100000, [cartographer_node-3] min_z = -0.800000, [cartographer_node-3] missing_data_ray_length = 5.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.017453, [cartographer_node-3] max_distance_meters = 0.200000, [cartographer_node-3] max_time_seconds = 5.000000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.349066, [cartographer_node-3] linear_search_window = 0.100000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 10.000000, [cartographer_node-3] }, [cartographer_node-3] submaps = { [cartographer_node-3] grid_options_2d = { [cartographer_node-3] grid_type = "PROBABILITY_GRID", [cartographer_node-3] resolution = 0.050000, [cartographer_node-3] }, [cartographer_node-3] num_range_data = 35.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] probability_grid_range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] insert_free_space = true, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] }, [cartographer_node-3] range_data_inserter_type = "PROBABILITY_GRID_INSERTER_2D", [cartographer_node-3] tsdf_range_data_inserter = { [cartographer_node-3] maximum_weight = 10.000000, [cartographer_node-3] normal_estimation_options = { [cartographer_node-3] num_normal_samples = 4.000000, [cartographer_node-3] sample_radius = 0.500000, [cartographer_node-3] }, [cartographer_node-3] project_sdf_distance_to_scan_normal = true, [cartographer_node-3] truncation_distance = 0.300000, [cartographer_node-3] update_free_space = false, [cartographer_node-3] update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_distance_cell_to_hit_kernel_bandwidth = 0.500000, [cartographer_node-3] update_weight_range_exponent = 0.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_data = false, [cartographer_node-3] use_online_correlative_scan_matching = true, [cartographer_node-3] voxel_filter_size = 0.025000, [cartographer_node-3] }, [cartographer_node-3] trajectory_builder_3d = { [cartographer_node-3] ceres_scan_matcher = { [cartographer_node-3] ceres_solver_options = { [cartographer_node-3] max_num_iterations = 12.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] intensity_cost_function_options_0 = { [cartographer_node-3] huber_scale = 0.300000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] weight = 0.500000, [cartographer_node-3] }, [cartographer_node-3] occupied_space_weight_0 = 1.000000, [cartographer_node-3] occupied_space_weight_1 = 6.000000, [cartographer_node-3] only_optimize_yaw = false, [cartographer_node-3] rotation_weight = 400.000000, [cartographer_node-3] translation_weight = 5.000000, [cartographer_node-3] }, [cartographer_node-3] high_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 2.000000, [cartographer_node-3] max_range = 15.000000, [cartographer_node-3] min_num_points = 150.000000, [cartographer_node-3] }, [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] low_resolution_adaptive_voxel_filter = { [cartographer_node-3] max_length = 4.000000, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_num_points = 200.000000, [cartographer_node-3] }, [cartographer_node-3] max_range = 60.000000, [cartographer_node-3] min_range = 1.000000, [cartographer_node-3] motion_filter = { [cartographer_node-3] max_angle_radians = 0.004000, [cartographer_node-3] max_distance_meters = 0.100000, [cartographer_node-3] max_time_seconds = 0.500000, [cartographer_node-3] }, [cartographer_node-3] num_accumulated_range_data = 1.000000, [cartographer_node-3] pose_extrapolator = { [cartographer_node-3] constant_velocity = { [cartographer_node-3] imu_gravity_time_constant = 10.000000, [cartographer_node-3] pose_queue_duration = 0.001000, [cartographer_node-3] }, [cartographer_node-3] imu_based = { [cartographer_node-3] gravity_constant = 9.806000, [cartographer_node-3] imu_acceleration_weight = 1.000000, [cartographer_node-3] imu_rotation_weight = 1.000000, [cartographer_node-3] odometry_rotation_weight = 1.000000, [cartographer_node-3] odometry_translation_weight = 1.000000, [cartographer_node-3] pose_queue_duration = 5.000000, [cartographer_node-3] pose_rotation_weight = 1.000000, [cartographer_node-3] pose_translation_weight = 1.000000, [cartographer_node-3] solver_options = { [cartographer_node-3] max_num_iterations = 10.000000, [cartographer_node-3] num_threads = 1.000000, [cartographer_node-3] use_nonmonotonic_steps = false, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_imu_based = false, [cartographer_node-3] }, [cartographer_node-3] real_time_correlative_scan_matcher = { [cartographer_node-3] angular_search_window = 0.017453, [cartographer_node-3] linear_search_window = 0.150000, [cartographer_node-3] rotation_delta_cost_weight = 0.100000, [cartographer_node-3] translation_delta_cost_weight = 0.100000, [cartographer_node-3] }, [cartographer_node-3] rotational_histogram_size = 120.000000, [cartographer_node-3] submaps = { [cartographer_node-3] high_resolution = 0.100000, [cartographer_node-3] high_resolution_max_range = 20.000000, [cartographer_node-3] low_resolution = 0.450000, [cartographer_node-3] num_range_data = 160.000000, [cartographer_node-3] range_data_inserter = { [cartographer_node-3] hit_probability = 0.550000, [cartographer_node-3] intensity_threshold = 40.000000, [cartographer_node-3] miss_probability = 0.490000, [cartographer_node-3] num_free_space_voxels = 2.000000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] use_intensities = false, [cartographer_node-3] use_online_correlative_scan_matching = false, [cartographer_node-3] voxel_filter_size = 0.150000, [cartographer_node-3] }, [cartographer_node-3] }, [cartographer_node-3] trajectory_publish_period_sec = 0.030000, [cartographer_node-3] use_landmarks = false, [cartographer_node-3] use_nav_sat = false, [cartographer_node-3] use_odometry = false, [cartographer_node-3] use_pose_extrapolator = false, [cartographer_node-3] } [cartographer_node-3] *** Check failure stack trace: *** [cartographer_node-3] @ 0x70013805eb03 google::LogMessage::Fail() [cartographer_node-3] @ 0x7001380669d1 google::LogMessage::SendToLog() [cartographer_node-3] @ 0x70013805e7c2 google::LogMessage::Flush() [cartographer_node-3] @ 0x70013806078f google::LogMessageFatal::~LogMessageFatal() [cartographer_node-3] @ 0x6244d3d20ce7 (unknown) [cartographer_node-3] @ 0x6244d3d20d66 (unknown) [cartographer_node-3] @ 0x6244d3d20ff3 (unknown) [cartographer_node-3] @ 0x6244d3d071d4 (unknown) [cartographer_node-3] @ 0x6244d3c6d7b3 (unknown) [cartographer_node-3] @ 0x700137029d90 (unknown) [cartographer_node-3] @ 0x700137029e40 __libc_start_main [cartographer_node-3] @ 0x6244d3c70d35 (unknown) [ERROR] [cartographer_node-3]: process has died [pid 19255, exit code -6, cmd '/opt/ros/humble/lib/cartographer_ros/cartographer_node -configuration_directory /home/michael/ros2_ws/install/ldlidar-ros2/share/ldlidar-ros2/configuration_files -configuration_basename mylaser.lua --ros-args --params-file /tmp/launch_params_5v_a720m -r scan:=scan'].
最新发布
11-14
use_pose_extrapolator = false, use_odometry = false, use_nav_sat = false, use_landmarks = false, num_laser_scans = 1, -- 匹配LD06的单激光扫描 num_multi_echo_laser_scans = 0, num_subdivisions_...
Cartographer源码解析——位姿推测器PoseExtrapolator
m0_67976789的博客
04-15 1579
imu_tracker_记录的是每一次我们ScanMatch结束之后，我们记录的精细的角度。上面代码算的是刚刚使用到的朝向，朝向怎么算的，跟之前的外推器计算的朝向差不多，就是外推器存储的最后的一个pose，timed_pose_queue_.back().pose.rotation(),在这个基础上，乘以一个Δrotation，ExtrapolateRotation(odometry_data_newest.time, odometry_imu_tracker_.get())。变成这么一个朝向上的向量。
pose extrapolator简要分析
Y3_flybird的博客
03-28 7328
cartographer中的位姿外推器作为google cartographer代码中的核心类：集成了估计线速度、角速度，推算运动（旋转与位移）和初级的集中式多传感器数据级融合，等等，更重要的是该类：PoseExtrapolator在SLAM和定位功能节点中可用作点云数据去畸变、点云配准初值提供、重力方向校准等一系列重要基础功能的集成，是定位算法中非常重要的一个模块。
PoseExtrapolator & ImuTracker
MyArrow的专栏
10-09 1437
1. ImuTracker 使用IMU的角速度和线性加速度跟踪方向。 因为平均线性加速度（假设慢速运动）是重力的直接测量，所以滚动/俯仰(roll/pitch)不会漂移，尽管偏航(yaw)会漂移。 输入： 时间 (common::Time time) 线加速度 (Eigen::Vector3d linear_acceleration) 角速度 (Eigen::Vector3d angula...
cartographer源码阅读---位姿推测器
qq_41663016的博客
05-08 1148
有3中位姿推测的方法, 但是不同情况下用哪一个呢?使用imu, 使用里程计平移的预测: 通过里程计数据队列开始和末尾的2个数据计算出的线速度乘以时间姿态的预测: 通过imu的角速度乘以时间使用imu, 不使用里程计平移的预测: 通过pose数据队列开始和末尾的2个数据计算出的线速度乘以时间姿态的预测: 通过imu的角速度乘以时间不使用imu, 使用里程计平移的预测: 通过里程计数据队列开始和末尾的2个数据计算出的线速度乘以时间。
Cartographer代码阅读笔记：位姿推理器(PoseExtrapolator)
weixin_38651019的博客
10-12 1824
本人热衷于机器人导航算法研究，希望与志同道合伙伴一起探讨有关技术。 文章目录前沿代码解析小结 前沿 Cartographer中位姿推理器（PoseExtrapolator）融合里程计数据和IMU数据，为Local SLAM提供初始位姿估计。 Cartographer有关其他分析文章：回到目录 本文的代码文件在：cartographer/mapping/internal/pose_extrapolator.cc 接下来探讨一下该文件中关键函数的具体实现过程： 代码解析 PoseExtrapolator(.
(02)Cartographer源码无死角解析-(40) PoseExtrapolator→整体框架复盘，作用与目的讲解
江南才尽江南山，年少无知年少狂！
12-19 1632
通过前面的博客，对于 PoseExtrapolator 这个类可以说是十分了解了，但是其使用方式与具体作用了解还不够透彻，另外在往推测器中添加各种数据(如点云匹配获得的位姿，Imu传感器数据，里程计odome)时，因该如何取舍，或者说谁为主。首先说其作用，或许有的朋友比较奇怪，既然通过点云匹配、或者Imu传感器与里程计odome能够获取位姿，那么直接使用他们的位姿不是就可以了吗？为什么还要搞个推断器来推测位姿？完全没必要啊！虽然点云匹配、或者Imu传感器与里程计odome能够获取位姿。
Cartorgrapher源码阅读04- PoseExtrapolator-前端匹配-位姿外插器
one_skr的博客
07-22 1113
接下来对前端匹配中的位姿外插器PoseExtrapolator进行解读，位姿外插器的主要作用是利用保存了一段时间的位姿计算角速度和线速度，并利用线速度和角速度进行位姿插值。也是前端匹配这一部分非常重要的一部分代码。 代码位于Cartographer/mapping/ pose_extrapolator.cpp 1.pose_extrapolator.h 从该类开头的注释我们可以知道，利用ScanMatch持续一段时间输出的PoseObservation，来估计角速度和线速度，并利用求得的速度来求解机器人的位
cartographer 代码思想解读（7）-位姿估计器PoseExtrapolator实现
jiajiading的博客
09-25 3651
cartographer 代码思想解读（7）- 位姿估计器PoseExtrapolator实现pose_extrapolator类定义插入IMU数据 AddImuData（）插入里程计数据 AddOdometryData（）UpdateVelocitiesFromPoses（）插入历史位置AddPose（）航向角积分实现AdvanceImuTracker（）ImuTracker类定义获取预测位置ExtrapolatePose(const common::Time time)思想总结 cartographer
Cartographer源码阅读2D&3D-前端-位姿外推器-PoseExtrapolator
yeluohanchan的博客
09-19 1186
Cartographer源码阅读-2D前端-位姿外推器-PoseExtrapolator PoseExtrapolator类： class PoseExtrapolator { public: explicit PoseExtrapolator(common::Duration pose_queue_duration, double imu_gravity_time_constant); PoseExtrapolator(const Pos
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