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-getupdate

sudo apt-getinstall -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 fetchcode for dependencies.

wstool merge -tsrchttps://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall

wstool update -tsrc

 

# 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

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

2. 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

红色部分修改成如下这样

while(error_codeAND 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

          -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>

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。

参考资料：

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

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