激光雷达建图之hector_mapping 建图

环境：ubuntu20.04,双系统，ros: noetic
在这篇文章里介绍了如何用cartographer建图
今天将要介绍如何用hector来建立激光雷达地图，步骤如下：
（1）安装hector_mapping对应的包：(在工作空间里运行)

sudo apt-get install ros-noetic-hector-slam

（2）开rviz

roslaunch rplidar_ros  view_rplidar.launch 

(3)在rplidar_ros中新建slam.launch文件

<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>

保存，注意目录地址
（4）打开slam

roslaunch rplidar_ros slam.launch

（5）保存地图，首先，需要安装map_server包

sudo apt-get install ros-noetic-map-server

然后，保存图形

rosrun map_server map_saver -f ~/my_map

（保存在了my_map这个目录下）便完成了雷达的测试、slam建图、保存等工作。