{"id":6346,"date":"2022-05-28T14:38:33","date_gmt":"2022-05-28T06:38:33","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=6346"},"modified":"2024-11-17T15:57:21","modified_gmt":"2024-11-17T07:57:21","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9fros-%e4%bd%bf%e7%94%a8cartographer%e8%bf%9b%e8%a1%8c%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%beslam%e5%bb%ba%e5%9b%be","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=6346","title":{"rendered":"ROS\u2014Cartographer\u6fc0\u5149\u96f7\u8fbeSLAM\u5efa\u56fe"},"content":{"rendered":"<p>\u4e3b\u6d41\u7684\u6fc0\u5149SLAM\u7b97\u6cd5\u6709hector\u3001gmapping\u3001karto\u3001cartographer\u3002\u5f88\u591a\u540c\u5b66\u4f7f\u7528ROS\u9ed8\u8ba4\u81ea\u5e26\u7684gmapping\u3001hector\u7b49\u6bd4\u8f83\u591a\uff0c\u8fd9\u6b21\u5e26\u5927\u5bb6\u4e00\u8d77\u5c1d\u8bd5\u4e0b\u4f20\u8bf4\u4e2d\u7684google cartographer\uff0c\u770b\u770b\u6548\u679c\u5dee\u522b\u6709\u591a\u5927\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer.gif\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6349\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer.gif\" alt=\"\" width=\"600\" height=\"360\" \/><\/a><\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<h3>1.\u4e3b\u6d41\u6fc0\u5149SLAM\u7b97\u6cd5<\/h3>\n<ul>\n<li><strong>hector<\/strong>\uff1a\u662f\u2f00\u79cd\u7ed3\u5408\u4e86\u9c81\u68d2\u6027\u8f83\u597d\u7684\u626b\u63cf\u5339\u2f45\u6cd52D_SLAM\u2f45\u6cd5\u548c\u4f7f\u2f64\u60ef\u6027\u4f20\u611f\u7cfb\u7edf\u7684\u5bfc\u822a\u6280\u672f\u3002\u4f20\u611f\u5668\u7684\u8981\u6c42\u8f83\u2fbc\uff0c\u2fbc\u66f4\u65b0\u9891\u7387\u2f29\u6d4b\u91cf\u566a\u58f0\u7684\u6fc0\u5149\u626b\u63cf\u4eea\uff0c\u4e0d\u9700\u8981\u2fa5\u7a0b\u8ba1\u3002\u4f7f\u7a7a\u4e2d\u2f46\u2f08\u673a\u4e0e\u5730\u2faf\u2f29\u8f66\u5728\u4e0d\u5e73\u5766\u533a\u57df\u8fd0\u2f8f\u5b58\u5728\u8fd0\u2f64\u7684\u53ef\u80fd\u6027\u3002\u4f5c\u8005\u5229\u2f64\u73b0\u4ee3\u6fc0\u5149\u96f7\u8fbe\u7684\u2fbc\u66f4\u65b0\u7387\u548c\u4f4e\u8ddd\u79bb\u6d4b\u91cf\u566a\u58f0\uff0c\u901a\u8fc7\u626b\u63cf\u5339\u914d\u5b9e\u65f6\u5730\u5bf9\u673a\u5668\u2f08\u8fd0\u52a8\u8fdb\u2f8f\u4f30\u8ba1\u3002\u6240\u4ee5\u5f53\u53ea\u6709\u4f4e\u66f4\u65b0\u7387\u7684\u6fc0\u5149\u4f20\u611f\u5668\u65f6\uff0c\u5373\u4fbf\u6d4b\u8ddd\u4f30\u8ba1\u5f88\u7cbe\u786e\uff0c\u5bf9\u8be5\u7cfb\u7edf\u90fd\u4f1a\u51fa\u73b0\u2f00\u5b9a\u7684\u95ee\u9898\u3002<\/li>\n<li><strong>gmapping<\/strong>\uff1a\u662f\u2f00\u79cd\u57fa\u4e8e\u7c92\u2f26\u6ee4\u6ce2\u7684\u6fc0\u5149SLAM\u7b97\u6cd5\uff0c\u5b83\u5df2\u7ecf\u96c6\u6210\u5728ROS\u4e2d\uff0c\u662f\u79fb\u52a8\u673a\u5668\u2f08\u4e2d\u4f7f\u2f64\u6700\u591a\u7684SLAM\u7b97\u6cd5\u3002\u57fa\u4e8e\u7c92\u2f26\u6ee4\u6ce2\u7684\u7b97\u6cd5\u2f64\u8bb8\u591a\u52a0\u6743\u7c92\u2f26\u8868\u2f70\u8def\u5f84\u7684\u540e\u9a8c\u6982\u7387\uff0c\u6bcf\u4e2a\u7c92\u2f26\u90fd\u7ed9\u51fa\u2f00\u4e2a\u91cd\u8981\u6027\u56e0\u2f26\u3002\u4f46\u662f\uff0c\u5b83\u4eec\u901a\u5e38\u9700\u8981\u2f24\u91cf\u7684\u7c92\u2f26\u624d\u80fd\u83b7\u5f97\u2f50\u8f83\u597d\u7684\u7684\u7ed3\u679c\uff0c\u4ece\u2f7d\u589e\u52a0\u8be5\u7b97\u6cd5\u7684\u7684\u8ba1\u7b97\u590d\u6742\u6027\u3002\u6b64\u5916\uff0c\u4e0ePF\u91cd\u91c7\u6837\u8fc7\u7a0b\u76f8\u5173\u7684\u7c92\u2f26\u9000\u5316\u8017\u5c3d\u95ee\u9898\u4e5f\u964d\u4f4e\u4e86\u7b97\u6cd5\u7684\u51c6\u786e\u6027\u3002<\/li>\n<li><strong>karto<\/strong>\uff1a\u662f\u57fa\u4e8e\u56fe\u4f18\u5316\u7684SLAM\u7b97\u6cd5\uff0c\u2f64\u2fbc\u5ea6\u4f18\u5316\u548c\u2fae\u8fed\u4ee3cholesky\u77e9\u9635\u8fdb\u2f8f\u7a00\u758f\u7cfb\u7edf\u89e3\u8026\u4f5c\u4e3a\u89e3\u3002\u56fe\u4f18\u5316\u2f45\u6cd5\u5229\u2f64\u56fe\u7684\u5747\u503c\u8868\u2f70\u5730\u56fe\uff0c\u6bcf\u4e2a\u8282\u70b9\u8868\u2f70\u673a\u5668\u2f08\u8f68\u8ff9\u7684\u2f00\u4e2a\u4f4d\u7f6e\u70b9\u548c\u4f20\u611f\u5668\u6d4b\u91cf\u6570\u636e\u96c6\uff0c\u7bad\u5934\u7684\u6307\u5411\u7684\u8fde\u63a5\u8868\u2f70\u8fde\u7eed\u673a\u5668\u2f08\u4f4d\u7f6e\u70b9\u7684\u8fd0\u52a8\uff0c\u6bcf\u4e2a\u65b0\u8282\u70b9\u52a0\u2f0a\uff0c\u5730\u56fe\u5c31\u4f1a\u4f9d\u636e\u7a7a\u95f4\u4e2d\u7684\u8282\u70b9\u7bad\u5934\u7684\u7ea6\u675f\u8fdb\u2f8f\u8ba1\u7b97\u66f4\u65b0\u3002\u8def\u6807landmark\u8d8a\u591a,\u5185\u5b58\u9700\u6c42\u8d8a\u2f24,\u7136\u2f7d\u56fe\u4f18\u5316\u2f45\u5f0f\u76f8\u2f50\u5176\u4ed6\u2f45\u6cd5\u5728\u2f24\u73af\u5883\u4e0b\u5236\u56fe\u4f18\u52bf\u66f4\u2f24\u3002<\/li>\n<li><strong>cartographer<\/strong>\uff1a\u662fgoogle\u63a8\u51fa\u7684\u4e00\u5957\u57fa\u4e8e\u56fe\u4f18\u5316\u7684SLAM\u7b97\u6cd5\uff0ccartographer\u91c7\u2f64\u57fa\u4e8egoogle\u2f83\u5bb6\u5f00\u53d1\u7684ceres\u2fae\u7ebf\u6027\u4f18\u5316\u7684\u2f45\u6cd5\uff0ccartographer\u7684\u91cf\u70b9\u5728\u4e8e\u4ee3\u7801\u89c4\u8303\u4e0e\u2f2f\u7a0b\u5316\uff0c\u2fae\u5e38\u9002\u5408\u4e8e\u5546\u4e1a\u5e94\u2f64\u548c\u518d\u5f00\u53d1\u3002\u5e76\u4e14cartographer\u57fa\u4e8esubmap\u2f26\u56fe\u6784\u5efa\u5168\u5c40\u5730\u56fe\u7684\u601d\u60f3\uff0c\u80fd\u6709\u6548\u7684\u907f\u514d\u5efa\u56fe\u8fc7\u7a0b\u4e2d\u73af\u5883\u4e2d\u79fb\u52a8\u7269\u4f53\u7684\u2f32\u6270\u3002\u5e76\u4e14cartographer\u2f40\u6301\u591a\u4f20\u611f\u5668\u6570\u636e\uff08odometry\u3001IMU\u3001LaserScan\u7b49\uff09\u5efa\u56fe\uff0c\u2f40\u63012D_SLAM\u548c3D_SLAM\u5efa\u56fe\u3002<\/li>\n<\/ul>\n<h3>2.google-cartographer\u5efa\u56fe\u7b97\u6cd5\u539f\u7406\u5206\u6790<\/h3>\n<p>Cartographer\u4e3b\u8981\u662f\u901a\u8fc7\u95ed\u73af\u68c0\u6d4b\u6765\u6d88\u9664\u6784\u56fe\u8fc7\u7a0b\u4e2d\u4ea7\u751f\u7684\u7d2f\u79ef\u8bef\u5dee\u3002\u7528\u4e8e\u95ed\u73af\u68c0\u6d4b\u7684\u57fa\u672c\u5355\u5143\u662fsubmap\u3002\u4e00\u4e2asubmap\u662f\u7531\u4e00\u5b9a\u6570\u91cf\u7684laser scan\u6784\u6210\u3002\u5c06\u4e00\u4e2alaser scan\u63d2\u5165\u5176\u5bf9\u5e94\u7684submap\u65f6\uff0c\u4f1a\u57fa\u4e8esubmap\u5df2\u6709\u7684laser scan\u53ca\u5176\u5b83\u4f20\u611f\u5668\u6570\u636e\u4f30\u8ba1\u5176\u5728\u8be5submap\u4e2d\u7684\u6700\u4f73\u4f4d\u7f6e\u3002submap\u7684\u521b\u5efa\u5728\u77ed\u65f6\u95f4\u5185\u7684\u8bef\u5dee\u7d2f\u79ef\u88ab\u8ba4\u4e3a\u662f\u8db3\u591f\u5c0f\u7684\u3002\u7136\u800c\u968f\u7740\u65f6\u95f4\u63a8\u79fb\uff0c\u8d8a\u6765\u8d8a\u591a\u7684submap\u88ab\u521b\u5efa\u540e\uff0csubmap\u95f4\u7684\u8bef\u5dee\u7d2f\u79ef\u5219\u4f1a\u8d8a\u6765\u8d8a\u5927\u3002\u56e0\u6b64\u9700\u8981\u901a\u8fc7\u95ed\u73af\u68c0\u6d4b\u9002\u5f53\u7684\u4f18\u5316\u8fd9\u4e9bsubmap\u7684\u4f4d\u59ff\u8fdb\u800c\u6d88\u9664\u8fd9\u4e9b\u7d2f\u79ef\u8bef\u5dee\uff0c\u8fd9\u5c31\u5c06\u95ee\u9898\u8f6c\u5316\u6210\u4e00\u4e2a\u4f4d\u59ff\u4f18\u5316\u95ee\u9898\u3002\u5f53\u4e00\u4e2asubmap\u7684\u6784\u5efa\u5b8c\u6210\u65f6\uff0c\u4e5f\u5c31\u662f\u4e0d\u4f1a\u518d\u6709\u65b0\u7684laser scan\u63d2\u5165\u5230\u8be5submap\u65f6\uff0c\u8be5submap\u5c31\u4f1a\u52a0\u5165\u5230\u95ed\u73af\u68c0\u6d4b\u4e2d\u3002\u95ed\u73af\u68c0\u6d4b\u4f1a\u8003\u8651\u6240\u6709\u7684\u5df2\u5b8c\u6210\u521b\u5efa\u7684submap\u3002\u5f53\u4e00\u4e2a\u65b0\u7684laser scan\u52a0\u5165\u5230\u5730\u56fe\u4e2d\u65f6\uff0c\u5982\u679c\u8be5laser scan\u7684\u4f30\u8ba1\u4f4d\u59ff\u4e0e\u5730\u56fe\u4e2d\u67d0\u4e2asubmap\u7684\u67d0\u4e2alaser scan\u7684\u4f4d\u59ff\u6bd4\u8f83\u63a5\u8fd1\u7684\u8bdd\uff0c\u90a3\u4e48\u901a\u8fc7\u67d0\u79cd scan match\u7b56\u7565\u5c31\u4f1a\u627e\u5230\u8be5\u95ed\u73af\u3002Cartographer\u4e2d\u7684scan match\u7b56\u7565\u901a\u8fc7\u5728\u65b0\u52a0\u5165\u5730\u56fe\u7684laser scan\u7684\u4f30\u8ba1\u4f4d\u59ff\u9644\u8fd1\u53d6\u4e00\u4e2a\u7a97\u53e3\uff0c\u8fdb\u800c\u5728\u8be5\u7a97\u53e3\u5185\u5bfb\u627e\u8be5laser scan\u7684\u4e00\u4e2a\u53ef\u80fd\u7684\u5339\u914d\uff0c\u5982\u679c\u627e\u5230\u4e86\u4e00\u4e2a\u8db3\u591f\u597d\u7684\u5339\u914d\uff0c\u5219\u4f1a\u5c06\u8be5\u5339\u914d\u7684\u95ed\u73af\u7ea6\u675f\u52a0\u5165\u5230\u4f4d\u59ff\u4f18\u5316\u95ee\u9898\u4e2d\u3002Cartographer\u7684\u91cd\u70b9\u5185\u5bb9\u5c31\u662f\u878d\u5408\u591a\u4f20\u611f\u5668\u6570\u636e\u7684\u5c40\u90e8submap\u521b\u5efa\u4ee5\u53ca\u7528\u4e8e\u95ed\u73af\u68c0\u6d4b\u7684scan match\u7b56\u7565\u7684\u5b9e\u73b0\u3002<\/p>\n<p>\u4e3b\u8981\u7531 Local SLAM \u548c Global SLAM \u4e24\u90e8\u5206\u7ec4\u6210\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6348\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview.png\" alt=\"\" width=\"960\" height=\"720\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview.png 960w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview-300x225.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview-768x576.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/high_level_system_overview-624x468.png 624w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/a><\/p>\n<p>Local SLAM\uff1a<\/p>\n<ul>\n<li>\u5229\u7528\u91cc\u7a0b\u8ba1(Odometry)\u548cIMU\u6570\u636e\u8fdb\u884c\u8f68\u8ff9\u63a8\u7b97\uff0c\u7ed9\u51fa\u5c0f\u8f66\u4f4d\u59ff\u4f30\u8ba1\u503c<\/li>\n<li>\u5c06\u4f4d\u59ff\u4f30\u8ba1\u503c\u4f5c\u4e3a\u521d\u503c\uff0c\u5bf9\u96f7\u8fbe\u6570\u636e\u8fdb\u884c\u5339\u914d\uff0c\u5e76\u66f4\u65b0\u4f4d\u59ff\u4f30\u8ba1\u5668\u7684\u503c<\/li>\n<li>\u96f7\u8fbe\u4e00\u5e27\u5e27\u6570\u636e\u7ecf\u8fc7\u8fd0\u52a8\u6ee4\u6ce2\u540e\uff0c\u8fdb\u884c\u53e0\u52a0\uff0c\u5f62\u6210\u5b50\u56fe(submap)<\/li>\n<\/ul>\n<p>Global SLAM\uff1a<\/p>\n<ul>\n<li>\u56de\u73af\u68c0\u6d4b<\/li>\n<li>\u540e\u7aef\u4f18\u5316\uff0c\u5168\u90e8\u5b50\u56fe\u5f62\u6210\u4e00\u5f20\u5b8c\u6574\u53ef\u7528\u7684\u5730\u56fe<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001cartographer\u5b89\u88c5<\/h1>\n<p>Google\u5f00\u6e90\u7684\u4ee3\u7801\u5305\u542b\u4e24\u4e2a\u90e8\u5206\uff1acartographer\u548ccartographer_ros\u3002cartographer\u4e3b\u8981\u8d1f\u8d23\u5904\u7406\u6765\u81ea\u96f7\u8fbe\u3001IMU\u548c\u91cc\u7a0b\u8ba1\u7684\u6570\u636e\u5e76\u57fa\u4e8e\u8fd9\u4e9b\u6570\u636e\u8fdb\u884c\u5730\u56fe\u7684\u6784\u5efa\uff0c\u662fcartographer\u7406\u8bba\u7684\u5e95\u5c42\u5b9e\u73b0\u3002cartographer_ros\u5219\u57fa\u4e8eros\u7684\u901a\u4fe1\u673a\u5236\u83b7\u53d6\u4f20\u611f\u5668\u7684\u6570\u636e\u5e76\u5c06\u5b83\u4eec\u8f6c\u6362\u6210cartographer\u4e2d\u5b9a\u4e49\u7684\u683c\u5f0f\u4f20\u9012\u7ed9cartographer\u5904\u7406\uff0c\u4e0e\u6b64\u540c\u65f6\u4e5f\u5c06cartographer\u7684\u5904\u7406\u7ed3\u679c\u53d1\u5e03\u7528\u4e8e\u663e\u793a\u6216\u4fdd\u5b58\uff0c\u662f\u57fa\u4e8ecartographer\u7684\u4e0a\u5c42\u5e94\u7528\u3002<\/p>\n<p>\u6e90\u7801\uff1a<\/p>\n<ul>\n<li>https:\/\/github.com\/cartographer-project\/cartographer<\/li>\n<li>https:\/\/github.com\/cartographer-project\/cartographer_ros<\/li>\n<\/ul>\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u5b89\u88c5cartographer+cartographer_ros\uff0c\u73af\u5883\u4e3aubuntu20.04+noetic+pi4b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 1.\u5b89\u88c5\u7f16\u8bd1\u5de5\u5177wstool\u3001rosdep\u3001ninjd\r\nsudo apt update\r\n# on Noetic\r\nsudo apt install -y python3-wstool python3-rosdep ninja-build stow\r\n# other distribution\r\nsudo apt-get install -y python-wstool python-rosdep ninja-build stow\r\n\r\n# 2.\u4e0b\u8f7dcartographer_ros\u6e90\u7801\r\nmkdir ~\/catkin_ws_carto  &amp;&amp;  cd ~\/catkin_ws_carto\r\nwstool init src\r\nwstool merge -t src https:\/\/raw.githubusercontent.com\/cartographer-project\/cartographer_ros\/master\/cartographer_ros.rosinstall\r\nwstool update -t src\r\n\r\n# 3.\u5b89\u88c5\u4f9d\u8d56\u5305proto3\u3001deb\u7b49\r\nsudo rosdep init   #\u5982\u679c\u6267\u2f8f\u62a5\u9519\uff0c\u53ef\u4ee5\u76f4\u63a5\u5ffd\u7565\r\nrosdep update\r\nrosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y\r\n\r\n.\/src\/cartographer\/scripts\/install_debs_cmake.sh  #req libs\r\n.\/src\/cartographer\/scripts\/install_abseil.sh    #abseil\r\n.\/src\/cartographer\/scripts\/install_proto3.sh    #proto3\r\n.\/src\/cartographer\/scripts\/install_ceres.sh     #ceres-solver \u5982\u679c\u4ee3\u7801\u4e0b\u4e0d\u4e0b\u6765\uff0c\u4fee\u6539.sh\u91ccgit clone https:\/\/github.com\/ceres-solver\/ceres-solver.git\r\n\r\n# 4.\u4fee\u6539\u914d\u7f6e\r\nvim ~\/catkin_ws_carto\/src\/cartographer_ros\/cartographer_ros\/configuration_files\/revo_lds.lua\r\n  tracking_frame = \"base_footprint\",  #\u5e95\u76d8\u5750\u6807frame\r\n  published_frame = \"odom\",      #\u673a\u5668\u4ebaodom frame\uff08tf\u5173\u8054\u5173\u7cfb\uff1acartographer map -&gt; odom -&gt; base_footprint -&gt; base_laser_link\uff09\r\n  provide_odom_frame = false,    #\u662f\u5426\u4f7f\u7528cartographer\u63d0\u4f9b\u7684\u5750\u6807\u7cfb\r\n  use_odometry = true,           #\u662f\u5426\u4f7f\u7528\u673a\u5668\u4eba\u7684odom\r\n\r\n# 5.\u7f16\u8bd1\u548c\u5b89\u88c5cartographer_ros\u6574\u4e2a\u9879\u2f6c\u2f2f\u7a0b\r\ncd  ~\/catkin_ws_carto\r\ncatkin_make_isolated --install  # --use-ninja\r\nsource install_isolated\/setup.bash<\/code><\/pre>\n<p>\u4e0b\u65b9\u662ftf\u5173\u8054\u5173\u7cfb\u793a\u4f8b\uff08\u4f7f\u7528\u5e26\u5e95\u76d8\u7684\u673a\u5668\u4eba\uff09\uff1a<\/p>\n<h1><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6376\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf-1024x803.png\" alt=\"\" width=\"625\" height=\"490\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf-1024x803.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf-300x235.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf-768x602.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-tf.png 1065w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h1>\n<p>*\u6ce8\uff1a\u5982\u679c\u4f60\u53ea\u662fpc\u76f4\u63a5\u63a5\u4e0a\u6fc0\u5149\u96f7\u8fbe\u8fdb\u884c\u6d4b\u8bd5\uff0c\u90a3\u4e48\u5c31\u53ea\u628arevo_lds.lua\u91cc\u7684tracking_frame\u3001published_frame\u6539\u4e3alaser\u7684frame_id\u5373\u53ef\u3002<\/p>\n<h1>\u4e09\u3001Bag\u6d4b\u8bd5<\/h1>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 2D bag\r\nwget -P ~\/Downloads https:\/\/storage.googleapis.com\/cartographer-public-data\/bags\/backpack_2d\/cartographer_paper_deutsches_museum.bag\r\nroslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}\/Downloads\/cartographer_paper_deutsches_museum.bag\r\n# revo_lds bag\r\nwget -P ~\/Downloads https:\/\/storage.googleapis.com\/cartographer-public-data\/bags\/revo_lds\/cartographer_paper_revo_lds.bag \r\nroslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}\/Downloads\/cartographer_paper_revo_lds.bag<\/code><\/pre>\n<h1><\/h1>\n<h1>\u56db\u3001\u5b9e\u8f66\u6d4b\u8bd5<\/h1>\n<h3>1.\u914d\u7f6ecartographer slam<\/h3>\n<pre class=\"pure-highlightjs\"><code class=\"\">vim cartographer.launch\r\n    &lt;launch&gt;  \r\n      &lt;arg name=\"simulation\" default= \"false\"\/&gt; \r\n      &lt;arg name=\"version\" default=\"$(env ROS_DISTRO)\"\/&gt;\r\n      &lt;param name=\"\/use_sim_time\" value=\"$(arg simulation)\" \/&gt;  \r\n\r\n      &lt;!-- cartographer_node --&gt;\r\n      &lt;node name=\"cartographer_node\" pkg=\"cartographer_ros\"  \r\n            type=\"cartographer_node\" args=\"  \r\n                -configuration_directory $(find cartographer_ros)\/configuration_files\r\n                -configuration_basename revo_lds.lua\"  \r\n            output=\"screen\"&gt;  \r\n      &lt;\/node&gt;  \r\n\r\n      &lt;node name=\"cartographer_occupancy_grid_node\" pkg=\"cartographer_ros\" type=\"cartographer_occupancy_grid_node\"\/&gt;\r\n\r\n    &lt;\/launch&gt;\r\n<\/code><\/pre>\n<h3>2.SLAM\u5efa\u56fe\u6d4b\u8bd5<\/h3>\n<h4>2.1.2D\u96f7\u8fbe\u5efa\u56fe<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u65e0\u5730\u56fe\u573a\u666f\u5bfc\u822a\u5e76\u5efa\u56fe\r\nroslaunch robot_navigation robot_slam_laser.launch slam_methods:=cartographer\r\n#  pc\u7aef\r\nroslaunch robot_navigation navigation_rviz.launch\r\nrosrun teleop_twist_keyboard teleop_twist_keyboard.py\r\n\r\n# \u4fdd\u5b58\u5730\u56fe\r\nroscd robot_navigation\/maps\r\nrosrun map_server map_saver -f map\r\n\r\n# \u4f7f\u7528\u5730\u56fe\r\nroslaunch robot_navigation robot_navigation.launch\r\nroslaunch robot_navigation navigation_rviz.launch<\/code><\/pre>\n<h1><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6374\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam-1024x674.png\" alt=\"\" width=\"625\" height=\"411\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam-1024x674.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam-300x197.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam-768x505.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam-624x410.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-slam.png 1169w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h1>\n<h4>2.2. 2D\u96f7\u8fbe+\u6444\u50cf\u5934\u8054\u5408\u5efa\u56fe<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u6fc0\u5149\u96f7\u8fbe+base_control\r\nroslaunch robot_navigation robot_lidar.launch \r\n# \u542f\u52a8\u6df1\u5ea6\u6444\u50cf\u5934\r\nroslaunch robot_vslam camera.launch \r\n# \u542f\u52a8rgbd+lidar\u8054\u5408\u5efa\u56fe\r\nroslaunch robot_vslam rtabmap_rgbd_lidar.launch\r\n\r\n# pc\u7aef\u67e5\u770b\r\nroslaunch robot_vslam rtabmap_rviz.launch\r\n# pc\u7aef\u63a7\u5236\u79fb\u52a8\r\nrosrun teleop_twist_keyboard teleop_twist_keyboard.py\r\n\r\n\r\n# \u91cd\u542frtabmap_rgbd_lidar\uff0c\u6253\u5f00movebase+\u81ea\u52a8\u5b9a\u4f4d\uff08\u5141\u8bb8\u540e\u9000\uff09 \r\nroslaunch robot_vslam rtabmap_rgbd_lidar.launch localization:=true planner:=dwa move_forward_only:=false<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6387\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam-1024x800.png\" alt=\"\" width=\"625\" height=\"488\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam-1024x800.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam-300x234.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam-768x600.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam-624x487.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/05\/cartographer-vslam.png 1115w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e94\u3001\u7ed3\u8bba<\/h1>\n<p>\u4ece\u5b9e\u9645\u6d4b\u8bd5\u6765\u770b\uff0c\u4e0egmapping\/hector\u5fc5\u987b\u63a7\u5236\u79fb\u52a8\u901f\u5ea6\u5e76\u4e14\u5bb9\u6613\u51fa\u73b0\u8854\u63a5\u95ee\u9898\u76f8\u6bd4\uff0ccartographer\u5373\u4f7f\u5728\u975e\u5e38\u5feb\u901f\u7684\u79fb\u52a8\u65f6\uff0c\u5efa\u51fa\u7684\u56fe\u8fd8\u539f\u5ea6\u4f9d\u7136\u5f88\u9ad8\uff0c\u57fa\u672c\u90fd\u662f\u4e00\u6b21\u5230\u4f4d\uff0c\u5f62\u72b6\u975e\u5e38\u89c4\u6574\uff0c\u4e0d\u540c\u533a\u57df\u8854\u63a5\u7684\u5730\u65b9\u505a\u7684\u5f88\u597d\uff0c\u540c\u65f6\u5efa\u56fe\u901f\u5ea6\u5f88\u5feb\uff0c\u5730\u56fe\u6587\u4ef6\u5f88\u5c0f\uff0c\u5b9e\u5728\u662fslam\u5efa\u56fe\u7684\u5229\u5668\uff01<\/p>\n<p>&nbsp;<\/p>\n<p>yan 22.5.29 0:58<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/github.com\/cartographer-project\/cartographer_ros\/blob\/master\/docs\/source\/compilation.rst\" target=\"_blank\" rel=\"noopener\">Compiling Cartographer ROS<\/a><\/p>\n<p><a href=\"https:\/\/google-cartographer.readthedocs.io\/en\/latest\/\" target=\"_blank\" rel=\"noopener\">Google Docs \u00bb Cartographer<\/a><\/p>\n<p><a href=\"https:\/\/wenku.baidu.com\/view\/b86a5e88d2f34693daef5ef7ba0d4a7302766cf6.html\" target=\"_blank\" rel=\"noopener\">SLAM\u5efa\u56fe\u4e0e\u81ea\u4e3b\u907f\u969c\u5bfc\u822a\u2014\u2014google-cartographer<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e3b\u6d41\u7684\u6fc0\u5149SLAM\u7b97\u6cd5\u6709hector\u3001gmapping\u3001karto\u3001cartographer\u3002\u5f88\u591a\u540c\u5b66\u4f7f\u7528RO [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1005,973,1293],"tags":[1206,1021,1020,968,967],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6346"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6346"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6346\/revisions"}],"predecessor-version":[{"id":9557,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6346\/revisions\/9557"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6346"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6346"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6346"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}