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关于SLAM系统中ROS系统的使用_fast-livo生成缓存地图的pcd
作者：正经夜光杯 | 2024-06-22 11:12:04
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fast-livo生成缓存地图的pcd
SLAM系统中使用ROS系统的学习
我学习的时候主要FAST-LIO为例。
1. ROS系统工作空间
ROS系统的工作空间下共有4个目录：
build : 编译空间，存储工作空间编译过程中产生的缓存信息和中间文件
devel: 开发空间，存放编译生成的可执行文件
install: 安装空间，（非必须）可选择安装
src : 代码空间，存放所有ROS功能的源码文件，一个个功能包
1.1 创建不包含任何功能的目录空间
mkdir -p test_ws/src
cd test_ws/src
cd ..
catkin_make
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运行上述命令后，ROS工作空间如下：
2. 代码空间内容
下面说明代码空间src目录 的相关内容，也即撰写代码所在位置，也即所有功能包所在位置。
在运行 catkin_make 命令构建ROS软件包前后，代码空间src目录 如下所示：
src
|—功能包1
|—功能包2
|—功能包…
上面是前，下面是后
src
|—功能包1
|—功能包2
|—功能包…
CMakeLists.txt
2.1 空的功能包
一个空的功能包包含 package.xml 和 CMakeLists.txt 两份文件，src 和 include/功能包名 两个目录，分别表示：
include/功能包名 : 空目录，存放辅助程序
src : 空目录，存放主程序
package.xml : 提供功能包元信息（描述功能包，辅助创建ROS空间）
CMakeLists.txt : 记录功能包编译规则
2.1.1 创建空的功能包
cd src
# catkin_create_pkg 功能包名 功能包所需依赖1 功能包所需依赖2 功能包所需依赖3 ...
catkin_create_pkg learn_test std_msgs rospy roscpp
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运行上述命令后，代码空间 src 内容如下：
2.2 功能包中文件说明
下面对功能包中的文件进行说明，以FAST-LIO程序为例。感谢开源工作者的分享。
2.2.1 package.xml 文件说明
FAST-LIO程序的 package.xml 文件内容和说明如下：
<?xml version="1.0"?> <!--package package.xml文件开头--> <package> <!--name 软件包的名称 --> <name>fast_lio</name> <!--ersion 软件包的版本号 --> <version>0.0.0</version> <!--deccription 软件包的描述 --> <description> This is a modified version of LOAM which is original algorithm is described in the following paper: J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. </description> <!--maintainer 负责维护软件包的人的信息 --> <maintainer email="dev@livoxtech.com">claydergc</maintainer> <!--license 软件包使用的许可证 --> <license>BSD</license> <!--url 软件包的网址 --> <url>https://github.com/hku-mars/FAST_LIO</url> <!--author 软件包的作者 --> <author email="zhangji@cmu.edu">Ji Zhang</author> <!--buildtool_depend 构建软件包时所依赖的构建工具 --> <buildtool_depend>catkin</buildtool_depend> <!--build_depend 在构建软件包时需要的依赖关系 --> <build_depend>geometry_msgs</build_depend> <build_depend>nav_msgs</build_depend> <build_depend>roscpp</build_depend> <build_depend>rospy</build_depend> <build_depend>std_msgs</build_depend> <build_depend>sensor_msgs</build_depend> <build_depend>tf</build_depend> <build_depend>pcl_ros</build_depend> <!-- livox_ros_driver软件包是fast_lio软件包的依赖，同时也是当前ROS空间内需要构建的软件包 --> <!-- 这种同一空间下不同软件包的依赖关系需要在package.xml文件中说明 --> <!-- 执行catkin_make命令在代码空间中生成的CMakeLists.txt文件依赖于package.xml文件内的信息 --> <build_depend>livox_ros_driver</build_depend> <build_depend>message_generation</build_depend> <!--run_depend 在运行软件包时需要的依赖关系 --> <run_depend>geometry_msgs</run_depend> <run_depend>nav_msgs</run_depend> <run_depend>sensor_msgs</run_depend> <run_depend>roscpp</run_depend> <run_depend>rospy</run_depend> <run_depend>std_msgs</run_depend> <run_depend>tf</run_depend> <run_depend>pcl_ros</run_depend> <run_depend>livox_ros_driver</run_depend> <run_depend>message_runtime</run_depend> <!--test_depend 在运行（部署）软件包测试时需要的依赖关系 --> <test_depend>rostest</test_depend> <test_depend>rosbag</test_depend> <!--export 允许软件包导出特定的配置信息，如插件、启动文件等--> <export> </export> <!--/package package.xml文件结尾--> </package>
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对于同一ROS空间下不同软件包之间的依赖关系需要在package.xml 文件中说明。
2.2.2 launch 文件说明
launch文件存放在功能包目录下的launch目录中，下面取FAST-LIO程序中mapping_mid360.launch文件和LOAM-Livox程序中 rosbag_largescale.launch 文件进行说明，首先是mapping_mid360.launch文件：
<!--launch launch文件的开头--> <launch> <!-- Launch file for Livox MID360 LiDAR --> <!--arg：argument的简写，表示参数 --> <!--类似于launch文件内部的局部变量，仅限于launch文件内使用，便于launch文件的重构，与ROS节点内部的实现没有关系 --> <!--使用方法如下，调用时： $(arg arg-name)--> <arg name="rviz" default="true" /> <!--rosparam：用来加载yaml文件中的参数 --> <!--file为所要加载的yaml文件，$(find fast_lio)为指定功能包的路径 src/fast_lio（功能包名） --> <!--command为所需要执行的操作，load（需要设置为load）表示加载yaml文件中的内容 --> <!--ns为所加载参数的命名空间，可以不设置，指向common --> <rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" /> <!--param：parameter的简写，表示参数 --> <!--是ROS系统运行中的参数，launch文件执行后，加载到参数服务器中 --> <!--参数由三部分组成：name参数名、type参数类型、value参数值 --> <!--在launch文件中调用方式为：$(param param-name) --> <!--在C语言文件中获取方式：nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false);第三个false为默认值，找不到则赋值为此 --> <!--在C语言文件中获取方式：std::string param_value; nh.getParam("/my_node/param_name", param_value)); --> <param name="feature_extract_enable" type="bool" value="0"/> <param name="point_filter_num" type="int" value="3"/> <param name="max_iteration" type="int" value="3" /> <param name="filter_size_surf" type="double" value="0.5" /> <param name="filter_size_map" type="double" value="0.5" /> <param name="cube_side_length" type="double" value="1000" /> <param name="runtime_pos_log_enable" type="bool" value="0" /> <!--node：启动ROS节点，是启动文件的核心（非主要参数在后面例子中说明） --> <!--主要参数由三部分组成：pkg定义节点所在的功能包名称，type定义节点的可执行文件名称，name定义节点运行的名称 --> <!--tyep参数说明：type参数定义的可执行文件名需要能够在 devel/lib/fast_lio（功能包名） 文件夹下找到 --> <!--可执行文件的生成指令在CMakeLists.txt文件夹内容： --> <!--add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp) --> <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> <!--group用于将多个节点、参数、命名空间放在一起 --> <!--可以定义命名空间：<group ns="robot1"> --> <group if="$(arg rviz)"> <!--node：启动ROS节点 --> <!--launch-prefix用于在启动节点时添加前缀，对节点进行限制或修饰 --> <!--args为启动节点需要输入的参数 --> <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" /> </group> <!--/launch launch文件的结尾--> </launch>
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接下来是rosbag_largescale.launch 文件：
<launch> <rosparam command="load" file="$(find loam_livox)/config/performance_precision.yaml" /> <!--$(env HOME)命令可以找到当前环境的home目录，$(env HOME)/Loam_livox=～/Loam_livox --> <param name="common/pcd_save_dir" type="string" value="$(env HOME)/Loam_livox" /> <param name="common/log_save_dir" type="string" value="$(env HOME)/Loam_livox" /> <param name="common/loop_save_dir" type="string" value="$(env HOME)/Loam_livox" /> <param name="common/if_verbose_screen_printf" type="int" value="1"/> <param name="feature_extraction/mapping_line_resolution" type="double" value="0.05"/> <param name="feature_extraction/mapping_plane_resolution" type="double" value="1.2"/> <node pkg="loam_livox" type="livox_scanRegistration" name="livox_scanRegistration"> <!--将话题重映射，重映射不会影响原话题的存在 --> <!--重映射只在运行时生效，不会修改节点源代码或修改ROS图形（Graph）中的话题名。--> <!--原始话题 "/laser_points_0" 仍然存在于ROS系统中，但节点 "livox_scanRegistration" 在运行时连接到 "/livox/lidar"。--> <remap from="/laser_points_0" to="/livox/lidar" /> </node> <!--output="screen"：将节点的标准输出打印到最终屏幕上，默认输出为日志文件 --> <!--respawn="true"：复位属性，该节点停止时，会自动启动，默认为false（一般用不到） --> <!--required="true"：必要节点，当该节点终止时，launch文件中的其他节点也被终止 --> <!--ns="namespace"：命名空间，对该节点内相对名称添加命名空间前缀 --> <!--args="arguments"：节点需要的输入参数 --> <node pkg="loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen" /> <arg name="rviz" default="true" /> <group if="$(arg rviz)"> <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_livox)/rviz_cfg/rosbag.rviz" /> </group> </launch>
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不同的 launch 文件之间也可以存在调用关系：
<include file="$(find fast_lio)/launch/other.launch"/>
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在ROS空间中启动节点=执行某一个（或多个）C语言程序，launch文件的核心作用就是链接ROS节点和可执行程序，可执行程序生成方式在CMakeLists.txt文件中定义生成，如下：
add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
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最后可执行程序会生成在开发空间devel目录下devel/lib/fast_lio 最后为功能包名称：
2.2.3 CMakeLists.txt 文件说明
在执行catkin_make命令后，代码空间src目录下会生成一个CMakeLists.txt文件，这个文件的作用是赋值ROS空间的编译，是根据功能包生成的，虽然意义重大，但对于SLAM开发意义不大。
在每个功能包中都会有CMakeLists.txt文件，下面以FAST-LIO功能包中的CMakeLists.txt文件为例进行说明：
cmake_minimum_required(VERSION 2.8.3) project(fast_lio) SET(CMAKE_BUILD_TYPE "Debug") ADD_COMPILE_OPTIONS(-std=c++14 ) ADD_COMPILE_OPTIONS(-std=c++14 ) set( CMAKE_CXX_FLAGS "-std=c++14 -O3" ) add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" ) set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions") message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}") if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" ) include(ProcessorCount) ProcessorCount(N) message("Processer number: ${N}") if(N GREATER 4) add_definitions(-DMP_EN) add_definitions(-DMP_PROC_NUM=3) message("core for MP: 3") elseif(N GREATER 3) add_definitions(-DMP_EN) add_definitions(-DMP_PROC_NUM=2) message("core for MP: 2") else() add_definitions(-DMP_PROC_NUM=1) endif() else() add_definitions(-DMP_PROC_NUM=1) endif() find_package(OpenMP QUIET) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") find_package(PythonLibs REQUIRED) find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h") # 下面的命令需要和package.xml中 <buildtool_depend>catkin</buildtool_depend> 指令协调使用 # 作用是：找到所需要的ROS中宏和功能包 find_package(catkin REQUIRED COMPONENTS geometry_msgs nav_msgs sensor_msgs roscpp rospy std_msgs pcl_ros tf livox_ros_driver message_generation eigen_conversions ) find_package(Eigen3 REQUIRED) find_package(PCL 1.8 REQUIRED) message(Eigen: ${EIGEN3_INCLUDE_DIR}) include_directories( ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS} include) # 告诉ROS构建系统有自定义消息文件 # 原始文件存放在功能包中msg目录下 # 生成的文件在开发空间内 devel/include/fast_lio（功能包名） add_message_files( FILES Pose6D.msg ) # 告诉ROS系统生成用于处理自定义消息的C++文件 # 这个自定义消息的依赖有 geometry_msgs 消息包 generate_messages( DEPENDENCIES geometry_msgs ) # 告诉ROS系统软件包的依赖关系 # CATKIN_DEPENDS软件包所依赖的其他ROS软件包 # DEPENDS软件包所需要的其他依赖项 # INCLUDE_DIRS软件包所需要的头文件目录，这里没有 # 说明：find_package命名用于查找，catkin_package命令用于声明，二者互不相关但需要配合使用 catkin_package( CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime DEPENDS EIGEN3 PCL INCLUDE_DIRS ) # 生成的可执行程序存放在开发空间内 devel/lib/fast_lio（功能包名） add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp) target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES}) target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
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CMakeLists.txt 文件的其他使用和非ROS情况一致，不多说明。
2.2.4 yaml文件说明
yaml文件一般存放在功能包目录下的config目录中，在launch文件中，可以被<rosparam>指令将所有内容以param参数形式加载到ROS空间中，具体操作如下：
<rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" />
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因此，SLAM系统内，可以认为yaml文件就是launch文件中许多的param参数。
yaml文件内的参数可以是整数、浮点数、字符串、布尔等各种类型，格式一般如下：
my_node:
|— param1: 10
|— param2: “hello”
|— …
下面以FAST-LIO程序中的mid360.yaml文件进行说明：
common: lid_topic: "/livox/lidar" imu_topic: "/livox/imu" time_sync_en: false # ONLY turn on when external time synchronization is really not possible time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 preprocess: lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, scan_line: 4 blind: 0.5 mapping: acc_cov: 0.1 gyr_cov: 0.1 b_acc_cov: 0.0001 b_gyr_cov: 0.0001 fov_degree: 360 det_range: 100.0 extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic extrinsic_T: [ -0.011, -0.02329, 0.04412 ] # 向量和数组都是以vector序列的形式存放的 # c++程序：nh.param<vector<double>>("mapping/extrinsic_R", extrinR, vector<double>()); extrinsic_R: [ 1, 0, 0, 0, 1, 0, 0, 0, 1] publish: path_en: false scan_publish_en: true # false: close all the point cloud output dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame pcd_save: pcd_save_en: true interval: -1 # how many LiDAR frames saved in each pcd file; # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
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yaml文件是比较重要的，一般包含标定的内、外参等，和程序的设计情况相关性很大。
2.2.5 rviz文件说明
rviz文件是启动rviz节点时可以作为配置的文件，一般由rviz程序导出，保存在功能包目录下的rviz_cfg目录下。可以在launch文件中引用rviz，配置rviz界面：
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
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下面是FAST-LIO程序中，rviz文件的具体内容，不重要：
Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /mapping1 - /mapping1/surround1 - /mapping1/currPoints1 - /mapping1/currPoints1/Autocompute Value Bounds1 - /Odometry1/Odometry1 - /Odometry1/Odometry1/Shape1 - /Odometry1/Odometry1/Covariance1 - /Odometry1/Odometry1/Covariance1/Position1 - /Odometry1/Odometry1/Covariance1/Orientation1 - /MarkerArray1/Namespaces1 Splitter Ratio: 0.6432291865348816 Tree Height: 811 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: surround Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 1 Cell Size: 1000 Class: rviz/Grid Color: 160; 160; 164 Enabled: false Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 40 Reference Frame: <Fixed Frame> Value: false - Class: rviz/Axes Enabled: false Length: 0.699999988079071 Name: Axes Radius: 0.05999999865889549 Reference Frame: <Fixed Frame> Value: false - Class: rviz/Group Displays: - 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: 238; 238; 236 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 238; 238; 236 Name: surround Position Transformer: XYZ Queue Size: 1 Selectable: false Size (Pixels): 3 Size (m): 0.05000000074505806 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 Min Value: -5 Value: false Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 1000 Enabled: true Invert Rainbow: true Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: currPoints Position Transformer: XYZ Queue Size: 100000 Selectable: true Size (Pixels): 1 Size (m): 0.009999999776482582 Style: Points Topic: /cloud_registered Unreliable: false Use Fixed Frame: true Use rainbow: true 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: 255; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.10000000149011612 Style: Flat Squares Topic: /Laser_map Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: mapping - Class: rviz/Group Displays: - Angle Tolerance: 0.009999999776482582 Class: rviz/Odometry Covariance: Orientation: Alpha: 0.5 Color: 255; 255; 127 Color Style: Unique Frame: Local Offset: 1 Scale: 1 Value: true Position: Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true Value: true Enabled: true Keep: 1 Name: Odometry Position Tolerance: 0.0010000000474974513 Shape: Alpha: 1 Axes Length: 1 Axes Radius: 0.20000000298023224 Color: 255; 85; 0 Head Length: 0 Head Radius: 0 Shaft Length: 0.05000000074505806 Shaft Radius: 0.05000000074505806 Value: Axes Topic: /Odometry Unreliable: false Value: true Enabled: true Name: Odometry - Class: rviz/Axes Enabled: true Length: 0.699999988079071 Name: Axes Radius: 0.10000000149011612 Reference Frame: <Fixed Frame> Value: true - Alpha: 0 Buffer Length: 2 Class: rviz/Path Color: 25; 255; 255 Enabled: true Head Diameter: 0 Head Length: 0 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.20000000298023224 Name: Path Offset: X: 0 Y: 0 Z: 0 Pose Color: 25; 255; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.4000000059604645 Shaft Length: 0.4000000059604645 Topic: /path Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 239; 41; 41 Max Intensity: 0 Min Color: 239; 41; 41 Min Intensity: 0 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 4 Size (m): 0.30000001192092896 Style: Spheres Topic: /cloud_effected Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 13.139549255371094 Min Value: -32.08251953125 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 138; 226; 52 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 138; 226; 52 Min Color: 138; 226; 52 Name: PointCloud2 Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.10000000149011612 Style: Flat Squares Topic: /Laser_map Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz/MarkerArray Enabled: false Marker Topic: /MarkerArray Name: MarkerArray Namespaces: {} Queue Size: 100 Value: false Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: camera_init Frame Rate: 10 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 46.0853271484375 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: -4.982542037963867 Y: -15.83572006225586 Z: -3.063523054122925 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.399796724319458 Target Frame: global Value: Orbit (rviz) Yaw: 1.277182698249817 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1028 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd0000000400000000000001c800000368fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000368000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004510000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1567 X: 67 Y: 24
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一般而言，复制粘贴就好。
2.2.6 msg文件说明
msg文件是自定义的消息文件，一般存放在功能包目录下的msg目录中，一般根据程序需求设计，下面是FAST-LIO程序中的msg文件内容：
# the preintegrated Lidar states at the time of IMU measurements in a frame
float64 offset_time # the offset time of IMU measurement w.r.t the first lidar point
float64[3] acc # the preintegrated total acceleration (global frame) at the Lidar origin
float64[3] gyr # the unbiased angular velocity (body frame) at the Lidar origin
float64[3] vel # the preintegrated velocity (global frame) at the Lidar origin
float64[3] pos # the preintegrated position (global frame) at the Lidar origin
float64[9] rot # the preintegrated rotation (global frame) at the Lidar origin
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具体在后续学习中补充。
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