ROS中安装使用cartographer

一、在安装cartographer前，需要系统满足如下的要求：

64-bit, modern CPU (e.g. 3rd generation i7)
16 GB RAM
Ubuntu 14.04 (Trusty)
gcc version 4.8.4
ROS Indigo

本人是自己设计制作的机器人平台，只有一个激光雷达传感器URG-04LX-UG01。本人就是利用这个传感器实现的SLAM。

二、安装过程及命令：

# Install wstool and rosdep.

sudo apt-get update

sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in ‘catkin_ws’.

mkdir catkin_ws

cd catkin_ws

wstool init src

# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

wstool update -t src

# Install deb dependencies.

rosdep update

rosdep install –from-paths src –ignore-src –rosdistro=${ROS_DISTRO} -y

# Build and install.

catkin_make_isolated –install –use-ninja

source install_isolated/setup.bash

备注：

问题：在catkin_make_isolated –install –use-ninja这一步，需要连接国外网下载ceres-solver，如果没有翻墙，会提示下载ceres-solver失败。

解决方法：

1.购买个VPN，连上国外网，翻墙后再运行该步骤的命令

打开下面这个文件，修改git下载的地址

build_isolated/ceres_solver/install/ceres_src-prefix/tmp/ceres_src-gitclone.cmake

黑体部分修改成如下这样

while(error_code AND number_of_tries LESS 3)

execute_process(

COMMAND “/usr/bin/git” clone “https://github.com/ceres-solver/ceres-solver” “ceres_src”

WORKING_DIRECTORY

修改好后从新运行该步骤命令

三、运行google提供的demo，显示google采集到的一个房间的地图：

# Download the 2D backpack example bag.

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

# Launch the 2D backpack demo.

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

备注，在运行测试这个demo的过程中，本人出现了两个错误：

1.rviz提示错误。原因是我是用teamviewer远程连到机器人上操作的，而rviz无法在远程运行显示。所以本人只好在机器人上接上了显示器，这样rviz就能正常运行了

2.playbag提示错误。原因是cartographer_paper_deutsches_museum.bag这个包没有完整下载。完整下载应该是500M左右。

四、利用cartographer，实现实时的构图定位

1.先将激光雷达节点的运行起来

rosrun hokuyo hokuyo

2.修改demo_revo_lds.launch

vim demo_revo_lds.launch

修改后的文件如下：

 
      
       
         
         
           < 
           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&nbsp; -configuration_basename revo_lds.lua"</code>&nbsp; <code class="xml color1">output</code><code class="xml plain">=</code><code class="xml string">"screen"</code><code class="xml plain">&gt;</code></div><div class="line number4 index3 alt1"><code class="xml spaces">&nbsp;&nbsp;&nbsp;&nbsp;</code><code class="xml plain">&lt;</code><code class="xml keyword">remap</code> <code class="xml color1">from</code><code class="xml plain">=</code><code class="xml string">"scan"</code> <code class="xml color1">to</code><code class="xml plain">=</code><code class="xml string">"scan"</code> <code class="xml plain">/&gt;</code></div><div class="line number5 index4 alt2"><code class="xml spaces">&nbsp;&nbsp;</code><code class="xml plain">&lt;/</code><code class="xml keyword">node</code><code class="xml plain">&gt;&nbsp;&nbsp; </code></div><div class="line number6 index5 alt1"><code class="xml spaces">&nbsp;&nbsp;</code><code class="xml plain">&lt;</code><code class="xml keyword">node</code> <code class="xml color1">name</code><code class="xml plain">=</code><code class="xml string">"rviz"</code> <code class="xml color1">pkg</code><code class="xml plain">=</code><code class="xml string">"rviz"</code> <code class="xml color1">type</code><code class="xml plain">=</code><code class="xml string">"rviz"</code> <code class="xml color1">required</code><code class="xml plain">=</code><code class="xml string">"true"</code> <code class="xml color1">args</code><code class="xml plain">=</code><code class="xml string">"-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" 
           /> 
          
 
           </ 
           launch 
           > 
          
 
       
 
      
    

3.修改配置参数文件revo_lds.lua

vim ../configuration_files/revo_lds.lua

修改后的文件如下：

 
           include "map_builder.lua" 
          
           options = {  map_builder = MAP_BUILDER, 
          
           sensor_bridge = { 
          
           horizontal_laser_min_range = 0.3, 
          
           horizontal_laser_max_range = 5.6, 
          
           horizontal_laser_missing_echo_ray_length = 1.2, 
          
           constant_odometry_translational_variance = 0., 
          
           constant_odometry_rotational_variance = 0., 
          
           }, 
          
           map_frame = "map", 
          
           tracking_frame = "laser", 
          
           published_frame = "laser", 
          
           odom_frame = "odom", 
          
           provide_odom_frame = true, 
          
           use_odometry_data = false, 
          
           use_horizontal_laser = true, 
          
           use_horizontal_multi_echo_laser = false, 
          
           num_lasers_3d = 0, 
          
           lookup_transform_timeout_sec = 0.2, 
          
           submap_publish_period_sec = 0.3, 
          
           pose_publish_period_sec = 5e-3, 
          
           } 
          
           MAP_BUILDER.use_trajectory_builder_2d = true 
          
           TRAJECTORY_BUILDER_2D.use_imu_data = false 
          
           TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true 
          
           SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2 
          
           return options

4.重新编译

catkin_make_isolated –install –use-ninja

5.运行脚本进行实时构图定位

roslaunch cartographer_ros demo_revo_lds.launch

备注：

1.如果您使用的激光雷达不同，上面修改demo_revo_lds.launch和配置参数文件revo_lds.lua可能需要做相应的调整。

本人博客：http://blog.csdn.net/happiness_jia/article/details/52856197

参考资料：

https://google-cartographer-ros.readthedocs.io/en/latest/index.html

http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode

    </div>
                            <div class="clear"></div>
</div>