ROS与SLAM入门教程-多线雷达(rs-lidar-16)cartographer 2D建图

ROS与SLAM入门教程-多线雷达(rs-lidar-16)cartographer 2D建图

说明：

• 介绍如何通过多线雷达来实现cartographer 2D建图
• 测试平台：turbot-DL + 多线雷达rslidar-16

准备：

• 源码安装cartographer_turtlebot，请参考：https://www.ncnynl.com/archives/201801/2230.html

• 设置rs-lidar-16雷达，请参考：https://www.ncnynl.com/archives/201807/2552.html

• 配置激光雷达3D点云数据转换为2D激光数据，参考：https://www.ncnynl.com/archives/201807/2554.html

• 新建turtlebot_rslidar_2d.launch

roscd cartographer_turtlebot/luanch
vim turtlebot_rslidar_2d.launch 

• 内容如下：

<launch>

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

• 新建turtlebot_rslidar.launch

roscd pointcloud_to_laserscan/luanch
vim turtlebot_rslidar.launch 

• 内容如下：

<?xml version="1.0"?>
<launch>

    <!-- run pointcloud_to_laserscan node -->
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

        <remap from="cloud_in" to="/rslidar_points"/>
        <remap from="scan" to="/scan"/>
        <rosparam>
            # target_frame: rslidar # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -0.4
            max_height: 1.0

            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # 0.17degree
            scan_time: 0.1
            range_min: 0.2
            range_max: 100
            use_inf: true
            inf_epsilon: 1.0

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

    <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>

</launch>

测试：

• 主机，新终端，启动雷达

roslaunch rslidar_pointcloud rs_lidar_16.launch

• 主机，新终端，启动点云转换

roslaunch pointcloud_to_laserscan turtlebot_rslidar.launch 

• 主机，新终端，启动建图：

roslaunch cartographer_turtlebot turtlebot_rslidar_2d.launch 

• 从机，新终端，启动键盘：

roslaunch turtlebot_teleop keyboard_teleop.launch 

• 从机，新终端，打开rviz

roslaunch turtlebot_rviz_launchers view_navigation.launch

• 效果如下：