思岚A2 运行cartographer

思岚A2+cartographer

因为毕设相关内容，在学习cartographer，这一次是试用思岚A2跑cartographer。
记录一下过程

首先确保自己cartographer运行是成功的。
安装教程网上有很多（很多都是没用的），我安装了一整天才正确运行，就离谱。

Cartographer安装后，安装思岚A2的驱动程序

学自文章思岚科技A1，A2雷达驱动安装

cd ~/catkin_ws/src
git clone https://github.com/Slamtec/rplidar_ros.git
cd ..
catkin_make_isolated --install --use-ninja

添加环境变量

sudo gedit ~/.bashrc
#在最后面添加     source ~/catkin_ws/devel_isolated/setup.bash   (注意一下devel_isolated这个文件夹的名称可能不一样)
#保存退出
source ~/.bashrc

查看雷达运行情况

 roslaunch rplidar_ros view_rplidar.launch

基本上这一步都是报错的，因为插雷达的usb端口号和文件中的端口号不一致。
默认雷达是接在/dev/ttyUSB0上的。

对挂载设备进行固定名称映射（还有其他方式请上网查询，我是一个有效就没必要再折腾了）

cd catkin_ws/src/rplidar_ros/scripts
./create_udev_rules.sh

重新插一次雷达使其生效

cd catkin_ws/src/rplidar_ros/launch
sudo gedit rplidar.launch

将设备参数/dev/ttyUSB0修改为/dev/rplidar

重新尝试雷达

cd
roslaunch rplidar_ros view_rplidar.launch

这里雷达应该就正常运行了。

思岚A2+cartographer

修改revo_lds.lua

sudo gedit ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/revo_lds.lua

文件内容：

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  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

修改内容：
horizontal_laser_link修改为laser

修改demo_revo_lds.launch

sudo gedit ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch

文件内容：

<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="horizontal_laser_2d" />
  </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" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

修改为：

<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="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>

重新编译

catkin_make_isolated --install --use-ninja

测试

运行激光雷达

roslaunch rplidar_ros rplidar.launch

运行cartographer框架

roslaunch cartographer_ros demo_revo_lds.launch

大致就是这样，这只是宿舍里手举着动了两下。具体的后面再继续搞。