rplidar & hector slam without odometry

合集 - SLAM(55)

1.个人资源索引2018-03-032.SLAM学习笔记（1）基本概念2015-08-063.SLAM学习笔记（2）SLAM算法2015-08-214.[ROS]2 尝试编译OrbSLAM2016-01-185.[ROS]1 小乌龟2016-01-186.SLAM最近的工作2015-11-057.SLAM学习笔记（3）相关概念2015-09-168.[SLAM]2D激光线特征提取2016-07-169.[SLAM] GMapping SLAM源码阅读（草稿）2016-07-0110.[QGLViewer]First Demo2016-06-2911.SLAM数据集2016-06-2312.[SLAM]2D激光扫描匹配方法2016-06-1513.[g2o]一个备忘2016-04-2114.[ROS] slam_gmapping2016-01-2415.[ROS]3 Linux编程练习2016-01-2016.Linux学习和ROS安装（1）2017-12-1917.小豆包的学习之旅：机器人定位2017-05-0218.小豆包的学习之旅：传感器观测模型2017-04-2119.Kinect2.0相机标定2017-04-1020.小豆包的学习之旅：里程计运动模型2017-04-0321.小豆包的学习之旅：入门篇2017-04-0222.Kinect2.0点云数据获取2017-03-3023.[硬件]Robot运动控制2017-03-2224.[硬件]Urg_viewer数据读取2017-03-1425.[硬件]三维点云数据获取2017-03-0426.Kinect2.0获取数据2017-02-1527.ndt histogram_direction2016-09-08

28.rplidar & hector slam without odometry2016-08-26

29.rplidar测试2016-08-1230.[原创]NDT方法在SLAM中的应用2016-08-0831.[SLAM]Karto SLAM算法学习（草稿）2016-07-2232.ROS学习备忘2018-07-1833.[ROS]激光驱动安装2018-07-1634.OrbSLAM2采集点云数据2018-03-2635.Cartographer源码阅读(8)：imu_tracker2018-03-2136.[硬件]点云数据采集22018-03-1937.Cartographer源码阅读(9)：图优化的前端——闭环检测2018-03-0838.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理2018-03-0839.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement2018-03-0740.Ethzasl MSF源码阅读(2)：百川汇海2018-03-0641.Ethzasl MSF源码阅读(1)：程序入口和主题订阅2018-03-0442.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator2018-02-2543.Cartographer源码阅读(5)：PoseGraph位姿图2018-02-2444.Cartographer源码阅读(4)：Node和MapBuilder对象22018-01-1045.Cartographer源码阅读(3)：程序逻辑结构2017-12-2946.Cartographer源码阅读(2)：Node和MapBuilder对象2017-12-2847.Cartographer源码阅读(1)：程序入口2017-12-2848.实时Cartographer测试(1) - rplidar2017-12-2149.Cartographer安装2017-12-2050.ROS安装（2）2017-12-2051.[ROS]一些传感器数据读取融合问题的思考2017-05-0652.小豆包的学习之旅：占用概率栅格地图和cost-map2017-05-0253.小豆包的学习之旅：开发记录2017-04-2954.[概述]移动机器人自主探索2017-04-1855.MRPT编译2017-04-14

收起

　　接上一篇：1.rplidar测试

　　方式一：测试使用rplidar A2跑一下手持的hector slam，参考文章：用hector mapping构建地图

　　但是roslaunch exbotxi_bringup 2dsensor.launch 和 roslaunch exbotxi_nav hector_mapping_demo.launch

　　这两个文件都没有搜索到。需要更新exbot_xi开发包。https://github.com/yuanboshe/exbot_xi/tree/hydro/exbotxi_bringup/launch

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1 2	cd ~/catkin_ws/src/exbot_xi git pull

　　如果出现 Already up-to-date. 的提示，则更新成功。如果对包有所修改，可能有些情况下无法更新，那么可以使用

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1	git reset --hard

　　reset一下，然后再使用 git pull 更新。

　　之后编译。

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1 2	cd ~/catkin_ws/ catkin_make

　　修改rplidar_2d_sensor.launch.xml 文件，/home/exbot/catkin_ws/src/exbot_xi/exbotxi_bringup/launch/includes/rplidar_2d_sensor.launch.xml，修改

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1	<node name="exbot_rplidar" pkg="rplidar_ros" type="rplidarNode" output="screen">

　　完整文件：（奇怪，端口<arg name="laser_port" default="/dev/ttyUSB1" />似乎也应该改啊，改成/dev/ttyUSB0，没改居然也没问题）

<launch>
  <arg name="scan_topic" default="scan" />
  <arg name="laser_frame" default="laser_link" />
  <arg name="laser_port" default="/dev/ttyUSB1" />
  
  <node name="exbot_rplidar" pkg="rplidar_ros" type="rplidarNode" output="screen">
    <param name="com_path" type="string" value="$(arg laser_port)" />
    <param name="com_baudrate" type="int" value="115200" />
    <param name="frame_id" type="string" value="$(arg laser_frame)" />
    <param name="range_min" type="double" value="0.18" />
    <param name="range_max" type="double" value="6.0" />
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

 

　　修改hector_mapping.launch.xml文件，/home/exbot/catkin_ws/src/exbot_xi/exbotxi_nav/launch/includes/hector_mapping.launch.xml

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1 2	<param name="base_frame" value="base_frame" /> <param name="odom_frame" value="base_frame" />

　　完整文件：

<launch>

  <arg name="scan_topic" default="scan" />

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_frame" />
    <param name="odom_frame" value="base_frame" />
    <param name="map_resolution" value="0.05" />
    <param name="map_size" value="1024" />
    <param name="laser_max_dist" value="3.9" />
    <param name="tf_map_scanmatch_transform_frame_name" value="odom_laser" />
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

 

　　编译之后按照 用hector mapping构建地图 文章中的步骤：

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roscore roslaunch exbotxi_bringup fake_exbotxi.launch roslaunch exbotxi_bringup 2dsensor.launch roslaunch exbotxi_nav hector_mapping_demo.launch roslaunch exbotxi_rviz view_navigation.launch

　　新建5个终端，让rplidar水平移动，会出现建图结果。

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另外的实现方式：从原始代码编译hector_slam，参考 http://blog.csdn.net/eaibot/article/details/51044718

编译hector_slam过程中出现Cmake Error，好像是找不到Find cmake_modules.cmake什么的。猜想是cmake_modules包没有安装。

解决方法。

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exbot@ubuntu:~$ cd ~/catkin_ws/src exbot@ubuntu:~/catkin_ws/src$ git clone https://github.com/ros/cmake_modules.git Cloning into 'cmake_modules'... remote: Counting objects: 344, done. remote: Total 344 (delta 0), reused 0 (delta 0), pack-reused 344 Receiving objects: 100% (344/344), 61.88 KiB | 34 KiB/s, done. Resolving deltas: 100% (191/191), done.   exbot@ubuntu:~/catkin_ws/src$ cd ..\ > exbot@ubuntu:~/catkin_ws$ catkin_make --pkg cmake_modules

　　之后按照参考文献的步骤，可以实现同样的结果。

　　在rplidar_ros/launch/目录下添加hector_mapping_demo.launch文件，内容如下：

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<launch>   <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> <!-- Frame names --> <param name="pub_map_odom_transform" value="true"/> <param name="map_frame" value="map" /> <param name="base_frame" value="base_link" /> <param name="odom_frame" value="base_link" />   <!-- Tf use --> <param name="use_tf_scan_transformation" value="true"/> <param name="use_tf_pose_start_estimate" value="false"/>   <!-- Map size / start point --> <param name="map_resolution" value="0.05"/> <param name="map_size" value="2048"/> <param name="map_start_x" value="0.5"/> <param name="map_start_y" value="0.5" /> <param name="laser_z_min_value" value = "-1.0" /> <param name="laser_z_max_value" value = "1.0" /> <param name="map_multi_res_levels" value="2" />   <param name="map_pub_period" value="2" /> <param name="laser_min_dist" value="0.4" /> <param name="laser_max_dist" value="5.5" /> <param name="output_timing" value="false" /> <param name="pub_map_scanmatch_transform" value="true" /> <!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->   <!-- Map update parameters --> <param name="update_factor_free" value="0.4"/> <param name="update_factor_occupied" value="0.7" />    <param name="map_update_distance_thresh" value="0.2"/> <param name="map_update_angle_thresh" value="0.06" />   <!-- Advertising config --> <param name="advertise_map_service" value="true"/> <param name="scan_subscriber_queue_size" value="5"/> <param name="scan_topic" value="scan"/> </node>   <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/>     <node pkg="rviz" type="rviz" name="rviz"     args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>   </launch>

　　ros命令 

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1 2	roslaunch rplidar_ros hector_mapping_demo.launch roslaunch rplidar_ros rplidar.launch