TX2+rplidar+cartographer

第一步：TX2安装ROS kinetic

http://www.ncnynl.com/archives/201706/1750.html

第二步：安装激光雷达驱动（测试过rplidar、F4）

首先必须给TX2编译内核，才可读取出雷达，编译方法参考 http://m.blog.csdn.net/gzj2013/article/details/77069803 

注意要选择CP210x驱动，而不是例子中的CH341

必须保证TX2中有足够的空间（大于5G）才可正常安装（我不会说试过N遍才知道）

然后安装雷达驱动，参考 http://www.ncnynl.com/archives/201704/1516.html 

第三步：TX2安装cartographer（官方安装方法）

来源：http://www.ncnynl.com/archives/201702/1369.html

# Install wstool and rosdep.sudo apt-get updatesudo apt-get install -y python-wstool python-rosdep ninja-build# Create a new workspace in 'catkin_ws'.mkdir catkin_wscd catkin_wswstool init src# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall#vim src/.rosinstall 该文件默认是隐形状态，进入到src文件夹后ctrl+h 即可显示出来#更改ceres-solver中地址改为下面的地址：#>>uri: https://github.com/ceres-solver/ceres-solver.gitwstool update -t src# Install deb dependencies.rosdep updaterosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y# Build and install.catkin_make_isolated --install --use-ninjasource install_isolated/setup.bash

• 安装完成即Cartographer, Cartographer ROS, and Cartographer ROS’s TurtleBot都已经安装。可通过下载运行官方的例子来检验安装是否正确

# Download the example bag.（下载例子）wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag# Launch the 2D LIDAR demo.（2D雷达DEMO）roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

• 刚开始使用ROS的同学运行下面两句是无法工作的，可能出现的错误如下。

[demo_backpack_2d.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file nameThe traceback for the exception was written to the log file

• 这种错误的主要原因是ros的catkin_ws配置问题，

• 解决方法：在~bashrc文件最后一行添加 source ~/catkin_ws/install_isolated/setup.bash，

• 然后在终端运行rospack profile，观察是否包含新包的路径。

第四步：cartographer和激光雷达相匹配，构建地图

F4激光雷达的配置方法参考创客教程： http://www.ncnynl.com/archives/201702/1371.html

• 增加turtlebot_lidar.launch

cd ~/carto_ws/install_isolated/share/cartographer_turtlebot/launchtouch turtlebot_lidar.launch vim turtlebot_lidar.launch 

• 代码如下：

<launch>  <arg name="configuration_basename"/>  <include file="$(find turtlebot_bringup)/launch/minimal.launch" />  <node name="cartographer_node" pkg="cartographer_ros"      type="cartographer_node" args="          -configuration_directory              $(find cartographer_turtlebot)/configuration_files          -configuration_basename $(arg configuration_basename)"      output="screen">    <remap from="scan" to="/scan" />  </node>  <node name="flat_world_imu_node" pkg="cartographer_turtlebot"      type="cartographer_flat_world_imu_node" output="screen">    <remap from="imu_in" to="/mobile_base/sensors/imu_data_raw" />    <remap from="imu_out" to="/imu" />  </node>  <node name="rviz" pkg="rviz" type="rviz" required="true"      args="-d $(find cartographer_turtlebot          )/configuration_files/demo_turtlebot.rviz" /></launch>

• 在turtlebot_navigation包（laser-driver）中增加rplidar雷达启动文件，代码如下（与原启动文件相比添加了TF转换，必不可少）：

<launch>  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">    <param name="serial_port"         type="string" value="/dev/rplidar"/>    <param name="serial_baudrate"     type="int"    value="115200"/>    <param name="frame_id"            type="string" value="laser"/>    <param name="angle_compensate"    type="bool"   value="true"/>    <param name="ignore_array"        type="string" value="" />    <param name="ignore_value"        type="double"  value="0" />  </node>  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 3.14 3.14 0.0 base_link laser 200"/></launch>         

• 新增启动文件turtlebot_lidar_2d.launch：

cd ~/carto_ws/install_isolated/share/cartographer_turtlebot/launchtouch turtlebot_lidar_2d.launchvim turtlebot_lidar_2d.launch

• 代码如下：

<launch>  <include file="$(find cartographer_turtlebot)/launch/turtlebot_lidar.launch">    <arg name="configuration_basename" value="turtlebot_urg_lidar_2d.lua" />  </include></launch>

• 新终端，启动雷达：

$ roslaunch turtlebot_navigation rplidar_laser.launch

• 新终端，启动建图：

$ roslaunch cartographer_turtlebot turtlebot_lidar_2d.launch

• 会自动打开RViz查看实时情况。
• 移动建图，移动turtlebot走圈完成建图，也可以远程控制
• 新终端，完成建图后保存地图，实际路径是：/home/user/map/

$ mkdir -p ~/map$ rosrun map_server map_saver -f ~/map/lidar_2d_carto$ ls ~/map   #查看内容，包含lidar_2d_carto.pgm  lidar_2d_carto.yaml

第五步：cartographer和激光雷达相匹配，导航

• （1）增加rplidar_amcl_demo.launch

cd ~/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launchmkdir laser_amclcd laser_amcltouch rplidar_amcl_demo.launchgedit rplidar_amcl_demo.launch

• 代码如下：

<launch>  <!-- Define laser type-->  <arg name="laser_type" default="rplidar" />  <!-- laser driver -->  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />  <!-- Map server -->  <arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />  <!-- AMCL -->  <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg laser_type)_amcl.launch.xml"/>  <arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->  <arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->  <arg name="initial_pose_a" default="0.0"/>  <include file="$(arg custom_amcl_launch_file)">    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>  </include>  <!-- Move base -->  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg laser_type)_costmap_params.yaml"/>  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">    <arg name="custom_param_file" value="$(arg custom_param_file)"/>  </include></launch>

（2）增加rplidar_amcl.launch.xml文件

位于turtlebot_navigation / launch / includes /amcl下，直接复制r200_amcl.launch.xml文件并改名即可

（3）增加rplidar_costmap_params.yaml文件

位于turtlebot_navigation / param 下，直接复制r200_costmap_params.yaml文件并改名即可