urtlebot2在ROS kinetic中使用cartographer进行仿真建图
1.硬件
本文所使用的是虚拟机环境下，ubuntu16.04，后续会在TX2为主办的TB2中进行实际地图构建
2.安装cartographer、cartographer_ros、cartographer_turtlebot和ceres
安装cartographer以及cartographer_ros主要是参考了这个博主的方法：https://www.icode9.com/content-3-1269792.html
cartographer_turtlebot的安装主要参考创客智造的方法：https://www.ncnynl.com/archives/201702/1369.html
这里要注意的是版本的匹配问题！！！
3.编译后需要测试，可以使用官方数据集进行测试：
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/XX/cartographer_turtlebot_demo.bag
测试结果如下：
4.turtlebot2使用cartographer完成对仿真环境的构建
完成以上配置后，我们使用turtlebot2构建仿真环境的2D地图。这里需要对一些参数进行修改：
（1）修改 cartographer_ros/cartographer_ros/configuration_files文件夹中的 revo_lds_.lua文件
修改后的代码如下：
-- Copyright 2016 The Cartographer Authors
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
-- http://www.apache.org/licenses/LICENSE-2.0
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link", #该处将horizontal_laser_link修改为base_link
published_frame = "base_link", #该处将horizontal_laser_link修改为base_link
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_pose_extrapolator = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
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
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
return options
主要修改这两处内容： tracking_frame = "base_link", #该处将horizontal_laser_link修改为base_link
published_frame = "base_link", #该处将horizontal_laser_link修改为base_link
有的博客将此处修改为laser，经测试无法完成TF树！此处应为base_link
（2） cartographer_ros/cartographer_ros/launch文件夹中 demo_revo_lds.launch文件
<launch>
<param name="/use_sim_time" value="true" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename revo_lds.lua"
output="screen">
<remap from="scan" to="scan" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>
记得将rosbag节点删除，因为我们是要对仿真环境进行地图构建，此时话题的输入来自于仿真环境下机器人的输出，所以不用rosbag节点。
（3）启动仿真环境
roslaunch turtlebot_gazebo turtlebot_world.launch
（4）启动键盘控制节点
roslaunch turtlebot_teleop keyboard_teleop.launch
（5）启动cartographer建图
roslaunch cartographer_ros demo_revo_lds.launch
建图结果：
