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ros2 -foxy安装cartographer建图定位-- 源码安装 使用

作者：天景科技苑 | 2024-07-24 22:08:44

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foxy安装cartographer

foxy 的cartographer_ros 和dashing 的兼容

cd  ~/xx__ws/src

安装源码

git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b foxy

git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b dashing

安装依赖

sudo apt update
sudo apt install -y \
    clang \
    cmake \
    g++ \
    git \
    google-mock \
    libceres-dev \
    liblua5.3-dev \
    libboost-all-dev \
    libprotobuf-dev \
    protobuf-compiler \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    libcairo2-dev \
    libpcl-dev \
    libsuitesparse-dev \
    python3-sphinx \
    lsb-release \
    ninja-build \
    stow
 

lua文件：

  1.  
  2. include "map_builder.lua"
  3. include "trajectory_builder.lua"
  4.  
  5. options = {
  6.   map_builder = MAP_BUILDER,
  7.   trajectory_builder = TRAJECTORY_BUILDER,
  8.   map_frame = "map",
  9.   tracking_frame = "gyro_link",
  10.   published_frame = "base_footprint",
  11.   odom_frame = "odom",
  12.   provide_odom_frame = true,
  13.   publish_frame_projected_to_2d = false,
  14.   -- publish_tracked_pose=true, --发布小车位置
  15.   use_odometry = true,
  16.   use_nav_sat = false,
  17.   use_landmarks = false,
  18.   num_laser_scans = 1,
  19.   num_multi_echo_laser_scans = 0,
  20.   num_subdivisions_per_laser_scan = 1,
  21.   num_point_clouds = 0,
  22.   lookup_transform_timeout_sec = 0.2,
  23.   submap_publish_period_sec = 0.3,
  24.   pose_publish_period_sec = 5e-3,
  25.   trajectory_publish_period_sec = 30e-3,
  26.   rangefinder_sampling_ratio = 1.,
  27.   odometry_sampling_ratio = 1.,
  28.   fixed_frame_pose_sampling_ratio = 1.,
  29.   imu_sampling_ratio = 1.,
  30.   landmarks_sampling_ratio = 1.,
  31. }
  32.  
  33. MAP_BUILDER.use_trajectory_builder_2d = true
  34. MAP_BUILDER.num_background_threads = 2
  35. -- TRAJECTORY_BUILDER.pure_localization_trimmer.max_submaps_to_keep = 3
  36. TRAJECTORY_BUILDER_2D.submaps.num_range_data = 45
  37. TRAJECTORY_BUILDER_2D.min_range = 0.1
  38. TRAJECTORY_BUILDER_2D.max_range = 6.
  39. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
  40. TRAJECTORY_BUILDER_2D.use_imu_data = true --是否使用imu数据
  41.  
  42. TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
  43. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
  44. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(10.) --角度搜索框的大小
  45. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
  46. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
  47.  
  48.  
  49. TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05  --运动滤波更新距离   // 如果移动距离过小, 或者时间过短, 不进行地图的更新
  50. TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.03)
  51. TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5
  52.  
  53. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.num_threads = 1
  54. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 20  --迭代次数
  55.  
  56. POSE_GRAPH.optimization_problem.huber_scale = 1e2
  57.  
  58. POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
  59. POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
  60. POSE_GRAPH.constraint_builder.min_score = 0.50
  61.  
  62. POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
  63. POSE_GRAPH.optimize_every_n_nodes = 35
  64.  
  65. return options

建图launch:

  1. import os
  2. from launch import LaunchDescription
  3. from launch.substitutions import LaunchConfiguration
  4. from launch_ros.actions import Node
  5. from launch_ros.substitutions import FindPackageShare
  6. from ament_index_python.packages import get_package_share_directory
  7.  
  8. from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
  9. from launch.conditions import IfCondition
  10. from launch.launch_description_sources import PythonLaunchDescriptionSource
  11.  
  12.  
  13.  
  14.  
  15. def generate_launch_description():
  16.     # 定位到功能包的地址
  17.     pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')
  18.  
  19.     scan_dir = get_package_share_directory('rplidar_ros')
  20.     scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径
  21.  
  22.     serial_dir = get_package_share_directory('serial_pkg')
  23.     serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径
  24.  
  25.     remappings = [('/tf', 'tf'),
  26.                   ('/tf_static', 'tf_static')]
  27.  
  28.     urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型
  29.     
  30.     #=====================运行节点需要的配置=======================================================================
  31.     # 是否使用仿真时间，我们用gazebo，这里设置成true
  32.     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
  33.     # 地图的分辨率
  34.     resolution = LaunchConfiguration('resolution', default='0.01')
  35.     # 地图的发布周期
  36.     publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
  37.     # 配置文件夹路径
  38.     configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
  39.     # 配置文件
  40.     configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')
  41.  
  42.     
  43.  
  44.     start_robot_state_publisher_cmd = Node(  #发布小车TF信息
  45.         package='robot_state_publisher',
  46.         executable='robot_state_publisher',  
  47.         remappings=remappings,
  48.         arguments=[urdf])
  49.  
  50.     joint_state_publisher_node = Node(
  51.         package='joint_state_publisher',
  52.         executable='joint_state_publisher',  
  53.         remappings=remappings,
  54.         arguments=[urdf]
  55.     )
  56.  
  57.  
  58.     serial_cmd = IncludeLaunchDescription(  #串口开启
  59.         PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),
  60.         launch_arguments={'namespace': '',
  61.                           'use_namespace': 'False'}.items())
  62.  
  63.     scan_cmd = IncludeLaunchDescription(  #雷达开启
  64.         PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),
  65.         launch_arguments={'namespace': '',
  66.                           'use_namespace': 'False'}.items())
  67.     #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
  68.     cartographer_node = Node(
  69.         package='cartographer_ros',
  70.         executable='cartographer_node',
  71.         name='cartographer_node',
  72.         output='screen',
  73.         parameters=[{'use_sim_time': use_sim_time}],
  74.         arguments=['-configuration_directory', configuration_directory,
  75.                    '-configuration_basename', configuration_basename])
  76.  
  77.     occupancy_grid_node = Node(
  78.         package='cartographer_ros',
  79.         executable='occupancy_grid_node',
  80.         name='occupancy_grid_node',
  81.         output='screen',
  82.         parameters=[{'use_sim_time': use_sim_time}],
  83.         arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
  84.  
  85.     rviz_node = Node(
  86.         package='rviz2',
  87.         executable='rviz2',
  88.         name='rviz2',
  89.         # arguments=['-d', rviz_config_dir],
  90.         parameters=[{'use_sim_time': use_sim_time}],
  91.         output='screen')
  92.  
  93.     #===============================================定义启动文件========================================================
  94.     ld = LaunchDescription()
  95.     ld.add_action(serial_cmd)
  96.     ld.add_action(scan_cmd)
  97.     
  98.     # Add the actions to launch all of the navigation nodes
  99.     ld.add_action(start_robot_state_publisher_cmd)
  100.     ld.add_action(joint_state_publisher_node)  
  101.  
  102.     ld.add_action(cartographer_node)
  103.     ld.add_action(occupancy_grid_node)
  104.     # ld.add_action(rviz_node)  在虚拟机上面远程启动
  105.  
  106.     return ld

地图保存1:ros2 run nav2_map_server map_saver_cli -t map -f   name    //只是文件名  xx.yaml xx.pgm

地图保存2:


ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: 'path/cartorapher.pbstream'}"  //绝对路径

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: '0'}"  //结束轨迹

定位launch:

  1. import os
  2. from launch import LaunchDescription
  3. from launch.substitutions import LaunchConfiguration
  4. from launch_ros.actions import Node
  5. from launch_ros.substitutions import FindPackageShare
  6. from ament_index_python.packages import get_package_share_directory
  7.  
  8. from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
  9. from launch.conditions import IfCondition
  10. from launch.launch_description_sources import PythonLaunchDescriptionSource
  11.  
  12. from nav2_common.launch import RewrittenYaml
  13.  
  14. #定位 launch
  15.  
  16.  
  17. def generate_launch_description():
  18.     # 定位到功能包的地址
  19.     pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')
  20.  
  21.     scan_dir = get_package_share_directory('rplidar_ros')
  22.     scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径
  23.  
  24.     serial_dir = get_package_share_directory('serial_pkg')
  25.     serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径
  26.  
  27.     remappings = [('/tf', 'tf'),
  28.                   ('/tf_static', 'tf_static')]
  29.  
  30.     urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型
  31.     
  32.     #=====================运行节点需要的配置=======================================================================
  33.     # 是否使用仿真时间，我们用gazebo，这里设置成true
  34.     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
  35.     # 地图的分辨率
  36.     resolution = LaunchConfiguration('resolution', default='0.01')
  37.     # 地图的发布周期
  38.     publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
  39.     # 配置文件夹路径
  40.     configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
  41.     # 配置文件
  42.     configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')
  43.  
  44.     autostart = LaunchConfiguration('autostart', default='True')
  45.     #配置地图
  46.     configuration_map = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.pbstream'))
  47.  
  48.     map_yaml_file = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.yaml'))
  49.     #配置导航文件
  50.     configuration_nav_params =  LaunchConfiguration('configuration_nav_params', default=os.path.join(pkg_share, 'params', 'careRobot_nav.yaml'))
  51.     
  52.  
  53.     default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename', 
  54.         default=os.path.join(get_package_share_directory('nav2_bt_navigator'),
  55.         'behavior_trees', 'navigate_w_replanning_and_recovery.xml'))
  56.  
  57.  
  58.     map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local', default='True')
  59.  
  60.     namespace = LaunchConfiguration('namespace', default='')
  61.  
  62.     lifecycle_nodes = ['controller_server',
  63.                        'planner_server',
  64.                        'recoveries_server',
  65.                        'bt_navigator',
  66.                        'waypoint_follower']
  67.  
  68.    
  69.  
  70.  
  71.     serial_cmd = IncludeLaunchDescription(  #串口开启
  72.         PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),
  73.         launch_arguments={'namespace': '',
  74.                           'use_namespace': 'False'}.items())
  75.  
  76.     scan_cmd = IncludeLaunchDescription(  #雷达开启
  77.         PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),
  78.         launch_arguments={'namespace': '',
  79.                           'use_namespace': 'False'}.items())
  80.     #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
  81.  
  82.     start_robot_state_publisher_cmd = Node(  #发布小车TF信息
  83.         package='robot_state_publisher',
  84.         executable='robot_state_publisher',  
  85.         remappings=remappings,
  86.         arguments=[urdf])
  87.  
  88.     joint_state_publisher_node = Node(
  89.         package='joint_state_publisher',
  90.         executable='joint_state_publisher',  
  91.         remappings=remappings,
  92.         arguments=[urdf]
  93.     )
  94.     cartographer_node = Node(
  95.         package = 'cartographer_ros',
  96.         executable = 'cartographer_node',
  97.         name='cartographer_node',
  98.         parameters = [{'use_sim_time': True}],
  99.         arguments = [
  100.             '-configuration_directory',configuration_directory,     #配置文件路径
  101.             '-configuration_basename', configuration_basename,      #配置文件名
  102.             '-load_state_filename', configuration_map               #pbstream地图
  103.             ],
  104.         # remappings = [
  105.         #     ('echoes', 'horizontal_laser_2d')],
  106.         output = 'screen'
  107.     )
  108.  
  109.  
  110.     occupancy_grid_node = Node(
  111.         package='cartographer_ros',
  112.         executable='occupancy_grid_node',
  113.         name='occupancy_grid_node',
  114.         output='screen',
  115.         parameters=[{'use_sim_time': use_sim_time}],
  116.         arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
  117.  
  118.     rviz_node = Node(
  119.         package='rviz2',
  120.         executable='rviz2',
  121.         name='rviz2',
  122.         # arguments=['-d', rviz_config_dir],
  123.         parameters=[{'use_sim_time': use_sim_time}],
  124.         output='screen')
  125.  
  126.  
  127.     param_substitutions = {
  128.         'use_sim_time': use_sim_time,
  129.         'default_bt_xml_filename': default_bt_xml_filename,
  130.         'autostart': autostart,
  131.         'map_subscribe_transient_local': map_subscribe_transient_local}
  132.  
  133.     configured_params = RewrittenYaml(
  134.             source_file=configuration_nav_params,
  135.             root_key=namespace,
  136.             param_rewrites=param_substitutions,
  137.             convert_types=True)
  138.  
  139.     nav2_controller_node= Node( #导航控制器
  140.             package='nav2_controller',
  141.             executable='controller_server',
  142.             output='screen',
  143.             parameters=[configured_params],
  144.             remappings=remappings)
  145.  
  146.     nav2_planner_node=Node( #导航归化器
  147.         package='nav2_planner',
  148.         executable='planner_server',
  149.         name='planner_server',
  150.         output='screen',
  151.         parameters=[configured_params],
  152.         remappings=remappings)
  153.  
  154.     nav2_recoveries_node=Node( #导航恢复
  155.         package='nav2_recoveries',
  156.         executable='recoveries_server',
  157.         name='recoveries_server',
  158.         output='screen',
  159.         parameters=[configured_params],
  160.         remappings=remappings)
  161.  
  162.     nav2_bt_navigator_node=Node( #行为树
  163.         package='nav2_bt_navigator',
  164.         executable='bt_navigator',
  165.         name='bt_navigator',
  166.         output='screen',
  167.         parameters=[configured_params],
  168.         remappings=remappings)
  169.  
  170.     nav2_waypoint_follower_node=Node(#点跟随
  171.         package='nav2_waypoint_follower',
  172.         executable='waypoint_follower',
  173.         name='waypoint_follower',
  174.         output='screen',
  175.         parameters=[configured_params],
  176.         remappings=remappings)
  177.  
  178.     nav2_lifecycle_manager_node=Node( #生命周期
  179.         package='nav2_lifecycle_manager',
  180.         executable='lifecycle_manager',
  181.         name='lifecycle_manager_navigation',
  182.         output='screen',
  183.         parameters=[{'use_sim_time': use_sim_time},
  184.                     {'autostart': autostart},
  185.                     {'node_names': lifecycle_nodes}])
  186.  
  187.     #===============================================定义启动文件========================================================
  188.     ld = LaunchDescription()
  189.     ld.add_action(serial_cmd)
  190.     ld.add_action(scan_cmd)
  191.     
  192.     # Add the actions to launch all of the navigation nodes
  193.     ld.add_action(start_robot_state_publisher_cmd)
  194.     ld.add_action(joint_state_publisher_node)  
  195.  
  196.     ld.add_action(cartographer_node)
  197.     ld.add_action(occupancy_grid_node)
  198.  
  199.     ld.add_action(nav2_controller_node)
  200.     ld.add_action(nav2_planner_node)
  201.     ld.add_action(nav2_recoveries_node)
  202.     ld.add_action(nav2_bt_navigator_node)
  203.     ld.add_action(nav2_waypoint_follower_node)
  204.     ld.add_action(nav2_lifecycle_manager_node)
  205.  
  206.     #ld.add_action(rviz_node)
  207.  
  208.     return ld

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