ros2 humble cartographer 2D激光雷达建图_cartographer ros2

1.概述

Cartographer是一个支持多平台和传感器配置的SLAM的系统。
本文主要讲述在ros2 humble系统上cartographer的安装方法，以及如何配置参数实现自己的ros2 bag包的离线建图。
官方cartographer的github地址：https://github.com/ros2/cartographer
官方cartographer_ros的github地址：https://github.com/ros2/cartographer_ros
官方cartographer说明文档(非ROS2版本)地址：https://google-cartographer.readthedocs.io/en/latest/
官方cartographer_ros说明文档(非ROS2版本)地址：https://google-cartographer-ros.readthedocs.io/en/latest/

2.安装cartographer

2.1 apt安装

sudo apt install ros-humble-cartographer ros-humble-cartographer-ros
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# 等待安装完成，输入如下指令查看是否安装完成；先source一下环境
ros2 pkg list | grep cartographer
# 正常可看到返回如下pkg
cartographer_ros
cartographer_ros_msgs
cartographer_rviz
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2.2 源码安装

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
# 根据个人意愿，建立新的工作空间
mkdir cartogrpaher_ws
cd cartogrpaher_ws
wstool init src
cd src
git clone https://ghproxy.com/https://github.com/ros2/cartographer.git
git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=humble -y
colcon build
# 如果提示缺少依赖，命令行安装一下即可
# 同上述apt安装，安装完成，source一下环境，检查是否成功
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3.cartographer参数配置

因为是用纯激光的bag数据仿真运行，一般只需要.launch.py+.lua+(urdf)即可；没有用到imu和odom数据；

3.1 .launch.py文件

这里参考的demo_backpack_2d.launch.py和backpack_2d.launch.py;(参考demo_revo_lds.launch.py更好，只用一个文件即可)

# demo_my_robot_2d.launch.py
def generate_launch_description():
    # 未配置默认bag包的打开位置，启动时需要加指令： bag_filename:= bag包的位置
    bag_filename_arg = DeclareLaunchArgument('bag_filename')

    ## ***** Nodes ***** 修改参数为my_robot_2d.launch.py
    my_robot_2d_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(FindPackageShare('cartographer_ros').find('cartographer_ros') + '/launch/my_robot_2d.launch.py'),
        launch_arguments = {'use_sim_time': 'True'}.items()
        )

# 以下均未调整
    rviz_node = Node(
        package = 'rviz2',
        executable = 'rviz2',
        on_exit = Shutdown(),
        arguments = ['-d', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files/demo_2d.rviz'],
        parameters = [{'use_sim_time': True}],
    )

    ros2_bag_play_cmd = ExecuteProcess(
        cmd = ['ros2', 'bag', 'play', LaunchConfiguration('bag_filename'), '--clock'],
        name = 'rosbag_play',
    )

    return LaunchDescription([
        # Launch arguments
        bag_filename_arg,
        # Nodes
        my_robot_2d_launch,
        rviz_node,
        ros2_bag_play_cmd
    ])
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# my_robot_2d.launch.py
def generate_launch_description():

    ## ***** Launch arguments *****
    use_sim_time_arg = DeclareLaunchArgument('use_sim_time', default_value = 'False')

    ## ***** File paths ******
    pkg_share = FindPackageShare('cartographer_ros').find('cartographer_ros')
    '''
    去掉了urdf以及robot_state_publisher_node
    '''
    # 修改为my_robot_2d.lua 文件 以及 激光雷达话题remapping(一个激光雷达的话，映射为scan即可；多个激光雷达需要映射为scan1、scan2...)
    cartographer_node = Node(
        package = 'cartographer_ros',
        executable = 'cartographer_node',
        parameters = [{'use_sim_time': LaunchConfiguration('use_sim_time')}],
        arguments = [
            '-configuration_directory', FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files',
            '-configuration_basename', 'my_robot_2d.lua'],
        remappings = [
            ('scan', '/sick_lms_1xx/scan')],
        output = 'screen'
        )

    cartographer_occupancy_grid_node = Node(
        package = 'cartographer_ros',
        executable = 'cartographer_occupancy_grid_node',
        parameters = [
            {'use_sim_time': True},
            {'resolution': 0.05}],
        )

    return LaunchDescription([
        use_sim_time_arg,
        # Nodes
        # robot_state_publisher_node, 注释了这个node
        cartographer_node,
        cartographer_occupancy_grid_node,
    ])
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3.2 .lua文件

这里参考的revo_lds.lua;因为只用了激光雷达数据，所以tracking_frame、published_frame设置为雷达的坐标系lidar_link；

# my_robot_2d.lua
options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  --map坐标系
  map_frame = "map",      
  --通常为发布频率最高的传感器的frame_id，例如imu_link  
  tracking_frame = "lidar_link", 
  --cartographer发布发布map到published_frame之间的tf;此处设置错误，建图异常；程序正常运行，使用ros2 run tf2_tools view_frames可以看到map-> lidar_link;
  published_frame = "lidar_link", 
  --odom坐标系
  odom_frame = "odom",
  --设置为true，cartographer会发布一个 odom 坐标系；--程序正常运行，使用ros2 run tf2_tools view_frames可以看到map->odom->lidar_link;
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  --订阅的lidar scan数量
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  --扫描分割数量，为1不分割
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

-- 根据激光雷达的性能，最小范围
TRAJECTORY_BUILDER_2D.min_range = 0.5
-- 根据激光雷达的性能，最大范围
TRAJECTORY_BUILDER_2D.max_range = 30
-- 无效激光数据设置距离为该数值
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
-- false,不使用IMU数据
TRAJECTORY_BUILDER_2D.use_imu_data = false
-- true,使用实时回环检测来进行前端的扫描匹配
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 
--尽量小点；如果移动距离或旋转过小, 或者时间过短, 不进行地图的更新
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.2
--FastCorrelativeScanMatcher初步匹配的结果分数，高于此分数才进入下一步的Ceres Scan Matcher处理。
POSE_GRAPH.constraint_builder.min_score = 0.65
--全局定位最小分数，低于此分数则认为目前全局定位不准确
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

return options 
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4 建图与地图保存

cd cartogrpaher_ws
colcon build
source ./install/setup.bash
ros2 launch cartographer_ros demo_my_robot_2d.launch.py bag bag_filename:=/home/bag_filename
#地图的保存
mkdir map
cd map
# 默认由/map话题输出（-t map），Free threshold = 0.25，Occupied threshold = 0.65；会生成carto_map.pgm和carto_map.yaml两个文件。
ros2 run nav2_map_server map_saver_cli -f carto_map
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5 节点话题图

6 TF静态坐标变换发布

使用tf2_ros提供的static_transform_publisher，具体参数含义如下：

static_transform_publisher [--x X] [--y Y] [--z Z] [--qx QX] [--qy QY] [--qz QZ] [--qw QW] [--roll ROLL] [--pitch PITCH] [--yaw YAW] --frame-id FRAME_ID --child-frame-id CHILD_FRAME_ID
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例如：

ros2 run tf2_ros static_transform_publisher 0.1 0 0.2 0 0 0 base_link link_1
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