{"id":9561,"date":"2024-11-20T01:00:48","date_gmt":"2024-11-19T17:00:48","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=9561"},"modified":"2024-12-09T22:31:38","modified_gmt":"2024-12-09T14:31:38","slug":"autoware-3d%e5%bb%ba%e5%9b%be%e4%b9%8bndt%e7%ae%97%e6%b3%95","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=9561","title":{"rendered":"Autoware\u20143D\u5efa\u56fe\u4e4bNDTMapping"},"content":{"rendered":"<p>LIO-SAM\u5bf9\u8f93\u5165\u7684\u70b9\u4e91\/imu\u6570\u636e\u592a\u654f\u611f\uff0c\u9053\u8def\u8ddd\u79bb\u8fc7\u7a84\u8fc7\u5bbd\u90fd\u5bb9\u6613\u5efa\u56fe\u5931\u8d25\uff0c\u5728\u6ca1\u6709\u5efa\u7b51\u7269\u7684\u516c\u56ed\u57fa\u672c\u7528\u4e0d\u4e86\u3002\u56e0\u6b64\u672c\u6587\u5c1d\u8bd5\u4f7f\u7528\u5bf9\u7279\u5f81\u70b9\u8981\u6c42\u76f8\u5bf9\u8f83\u5c11\u7684ndt\u7b97\u6cd5\uff0c\u6765\u770b\u770b\u5728\u5c0f\u533a\u6216\u516c\u56ed\u7b49\u573a\u666f\u7684\u5efa\u56fe\u6548\u679c\u3002<\/p>\n<p>\u5148\u653e\u4e00\u5f20\u5c0f\u533a\u7684\u5efa\u56fe\u6548\u679c\u56fe\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9943\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-1024x577.png\" alt=\"\" width=\"625\" height=\"352\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-1024x577.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-300x169.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-768x433.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-1536x866.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan-624x352.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-jingheyuan.png 1587w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u516c\u56ed\u5efa\u56fe\u6548\u679c\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9941\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-1024x579.png\" alt=\"\" width=\"625\" height=\"353\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-1024x579.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-300x170.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-768x435.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-1536x869.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around-624x353.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/map-park-around.png 1587w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<h4>1. NDT\u7b97\u6cd5\u539f\u7406<\/h4>\n<p>NDT\u7b97\u6cd5\uff0c\u4e5f\u5c31\u662fNormal Distribution Transform\uff0c\u6b63\u6001\u5206\u5e03\u53d8\u6362\u7b97\u6cd5\u3002\u4ec0\u4e48\u662f\u6b63\u6001\u5206\u5e03\u53d8\u6362\u7b97\u6cd5\u5462\uff0c\u7b80\u8a00\u4e4b\uff0c\u5c31\u662f\u628a\u7a7a\u95f4\u4e2d\u7684\u70b9\u4e91\u8fdb\u884c\u6574\u7406\uff0c\u6574\u7406\u6210\u5177\u6709\u5206\u5e03\u7279\u6027\u7684\u5757\uff0c\u7136\u540e\u6839\u636e\u8fd9\u4e9b\u5757\u6765\u5bf9\u4e0d\u540c\u5e27\u7684\u70b9\u4e91\u505a\u5339\u914d\uff0c\u6c42\u89e3\u8fd9\u4e9b\u5206\u5e03\u5757\u7684\u4f4d\u59ff\u53d8\u6362\u3002<\/p>\n<p>\u9002\u5408\u573a\u666f\uff1a\u9002\u7528\u4e8e\u53d8\u5316\u591a\u7aef\u7684\u5916\u90e8\u73af\u5883\u4e2d\u65e0\u4eba\u8f66\u7684\u5bfc\u822a\uff0c\u5728\u5904\u7406\u5927\u91cf\u6563\u4e71\u70b9\u4e91\u6570\u636e\u65f6\u8868\u73b0\u51fa\u8272\u3002<\/p>\n<p>\u5c40\u9650\u6027\uff1a\u5bf9\u4e8e\u7279\u5f81\u4e0d\u660e\u663e\u7684\u5927\u89c4\u6a21\u5e73\u9762\u533a\u57df\uff0cNDT\u7684\u6027\u80fd\u53ef\u80fd\u4f1a\u6709\u6240\u4e0b\u964d\u3002<\/p>\n<h4>2. LIO-SAM\u7b97\u6cd5\u539f\u7406<\/h4>\n<p>LIO-SAM\u662f\u57fa\u4e8e\u56e0\u5b50\u56fe\u6784\u5efa\u7684\u6fc0\u5149\u96f7\u8fbe\u60ef\u6027\u91cc\u7a0b\u8ba1\uff0c\u53ef\u4ee5\u5c06\u5927\u91cf\u7684\u76f8\u5bf9\u6d4b\u91cf\u503c\u3001\u7edd\u5bf9\u6d4b\u91cf\u503c\u3001\u56de\u73af\u7b49\u591a\u79cd\u4e0d\u540c\u6570\u636e\u4f5c\u4e3a\u56e0\u5b50\u878d\u5165\u6fc0\u5149\u96f7\u8fbe\u60ef\u6027\u91cc\u7a0b\u8ba1\u7cfb\u7edf\u4e2d\u3002IMU\u9884\u79ef\u5206\u7684\u8fd0\u52a8\u4f30\u8ba1\u88ab\u7528\u6765\u53bb\u5904\u6fc0\u5149\u96f7\u8fbe\u8fd0\u52a8\u7578\u53d8\uff0c\u5e76\u4e3a\u6fc0\u5149\u96f7\u8fbe\u60ef\u6027\u91cc\u7a0b\u8ba1\u7684\u4f18\u5316\u63d0\u4f9b\u521d\u503c\u3002\u83b7\u5f97\u7684\u6fc0\u5149\u60ef\u6027\u91cc\u7a0b\u8ba1\u7684\u7ed3\u679c\u53cd\u8fc7\u6765\u7528\u4f5c\u4f30\u8ba1IMU\u7684\u504f\u5dee\u3002\u4e3a\u4e86\u786e\u4fdd\u5b9e\u65f6\u6027\u4e0e\u9ad8\u6027\u80fd\uff0c\u8fdb\u884c\u4f4d\u59ff\u4f18\u5316\u65f6\u8fb9\u7f18\u5316\u6389\u4e86\u4e00\u4e9b\u65e7\u7684\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u800c\u4e0d\u662f\u5c06\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4e0e\u6574\u4e2a\u5730\u56fe\u8fdb\u884c\u5339\u914d\u3002\u5728\u5c40\u90e8\u8303\u56f4\u800c\u4e0d\u662f\u5168\u5c40\u8303\u56f4\u8fdb\u884c\u626b\u63cf\u5339\u914d\u53ef\u4ee5\u6709\u6548\u63d0\u9ad8\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\uff0c\u9009\u62e9\u6027\u5730\u5f15\u5165\u5173\u952e\u5e27\u548c\u9ad8\u6548\u7684\u6ed1\u52a8\u7a97\u53e3\u4e5f\u80fd\u63d0\u9ad8\u5b9e\u65f6\u6027\u80fd\u3002<\/p>\n<p>\u5c40\u9650\u6027\uff1aLIO-SAM\u5bf9\u8f93\u5165\u6570\u636e\u7cbe\u5ea6\u8f83\u4e3a\u654f\u611f\uff0c\u7531\u4e8e\u91c7\u7528\u5c40\u90e8\u8303\u56f4\u626b\u63cf\u5339\u914d\uff0c\u5bfc\u81f4\u5728\u5c40\u90e8\u8fc7\u7a84\u6216\u7279\u5f81\u4e0d\u8db3\u65f6\uff0c\u51fa\u73b0\u5efa\u56fe\u504f\u79fb\u73b0\u8c61\u3002<\/p>\n<h4>3. \u4ec0\u4e48\u662f\u70b9\u4e91\u964d\u91c7\u6837<\/h4>\n<p>\u4e09\u7ef4\u70b9\u4e91\u5f80\u5f80\u5305\u542b\u5927\u91cf\u5197\u4f59\u6570\u636e\uff0c\u76f4\u63a5\u5904\u7406\u8ba1\u7b97\u91cf\u5927\uff0c\u6d88\u8017\u65f6\u95f4\u957f\uff0c\u56e0\u6b64\u5bf9\u5176\u8fdb\u884c\u964d\u91c7\u6837\u662f\u5341\u5206\u5fc5\u8981\u7684\u3002\u964d\u91c7\u6837\u540c\u65f6\u4e5f\u662f\u70b9\u4e91\u9884\u5904\u7406\u8fc7\u7a0b\u4e2d\u7684\u5173\u952e\u73af\u8282\u3002\u91c7\u6837\u7b97\u6cd5\u91cc\uff0c\u6bd4\u8f83\u5e38\u7528\u7684\u662f\u4f53\u7d20\u7f51\u683c\u4e0b\u91c7\u6837\u3002<\/p>\n<h6>3.1 \u4f53\u7d20\u7f51\u683c\u4e0b\u91c7\u6837\u539f\u7406<\/h6>\n<p>\u4f53\u7d20\uff08Voxel\uff09\uff1a\u5c06\u4e09\u7ef4\u7a7a\u95f4\u5212\u5206\u6210\u4e00\u4e2a\u4e2a\u7acb\u4f53\u7684\u65b9\u683c\uff0c\u6bcf\u4e2a\u65b9\u683c\u5c31\u53eb\u4e00\u4e2a\u4f53\u7d20\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/points_downsampler.jpeg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9595\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/points_downsampler.jpeg\" alt=\"\" width=\"620\" height=\"469\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/points_downsampler.jpeg 620w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/points_downsampler-300x227.jpeg 300w\" sizes=\"(max-width: 620px) 100vw, 620px\" \/><\/a>\u5728\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u53ef\u80fd\u5b58\u5728\u51e0\u4e2a\u70b9\uff0c\u4e5f\u53ef\u80fd\u6ca1\u6709\u70b9\u3002\u964d\u91c7\u6837\u7684\u601d\u8def\u4e3a\uff1a\u68c0\u67e5\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u662f\u5426\u6709\u70b9\u5b58\u5728\uff0c\u82e5\u6709\uff0c\u5219\u7528\u4e00\u4e2a\u70b9\u4ee3\u66ff\u4f53\u7d20\u5185\u7684\u70b9\u96c6\uff0c\u901a\u5e38\uff0c\u8fd9\u4e2a\u91c7\u6837\u70b9\u53ef\u4ee5\u662f\u4f53\u7d20\u4e2d\u6240\u6709\u70b9\u5750\u6807\u7684\u5e73\u5747\u503c\uff08\u8d28\u5fc3\uff09\uff0c\u4e5f\u53ef\u4ee5\u662f\u4e2d\u5fc3\u70b9\u6216\u8005\u79bb\u4e2d\u5fc3\u70b9\u6700\u8fd1\u7684\u70b9\u3002<\/p>\n<h6>3.2 \u6d41\u7a0b<\/h6>\n<ul>\n<li>\u8ba1\u7b97\u70b9\u4e91\u7684\u5305\u56f4\u76d2\uff0c\u5c06\u5305\u56f4\u76d2\u79bb\u6563\u6210\u5c0f\u4f53\u7d20\u3002\u4f53\u7d20\u7684\u957f\u5bbd\u9ad8\u5c3a\u5bf8\u53ef\u4ee5\u901a\u8fc7\u7528\u6237\u8bbe\u5b9a\uff0c\u4e5f\u53ef\u4ee5\u6307\u5b9a\u4e09\u4e2a\u65b9\u5411\u4e0a\u7684\u4f53\u7d20\u4e2a\u6570\uff1b<\/li>\n<li>\u83b7\u53d6\u843d\u5728\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u7684\u70b9\u96c6\uff0c\u5728\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u53d6\u4e00\u4e2a\u91c7\u6837\u70b9\u4ee3\u66ff\u539f\u6765\u7684\u70b9\u96c6\u3002<\/li>\n<\/ul>\n<h6>3.3 \u7279\u70b9<\/h6>\n<ul>\n<li>\u6548\u7387\u9ad8<\/li>\n<li>\u91c7\u6837\u70b9\u5206\u5e03\u6bd4\u8f83\u5747\u5300<\/li>\n<li>\u53ef\u4ee5\u901a\u8fc7\u63a7\u5236\u4f53\u7d20\u5927\u5c0f\u95f4\u63a5\u63a7\u5236\u91c7\u6837\u70b9\u7684\u8ddd\u79bb\uff08\u91c7\u6837\u540e\u70b9\u4e91\u7684\u7a00\u758f\u7a0b\u5ea6\uff09<\/li>\n<li>\u91c7\u96c6\u5230\u7684\u70b9\u4e91\u6570\u91cf\u4e0d\u53ef\u63a7<\/li>\n<\/ul>\n<h4>3. \u57fa\u4e8eAutoware.AI\u7684ndt<\/h4>\n<p>Autoware \u5efa\u56fe\u7528\u7684\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5173\u7cfb\uff0cAutoware \u7528\u7684\u5750\u6807\u7cfb\u6709\u56db\u7c7b\uff1a\u4e16\u754c\u5750\u6807\u7cfb world\uff0c\u5730\u56fe\u5750\u6807\u7cfb map\uff0c\u5c0f\u8f66\u5750\u6807\u7cfbbase_link\uff0c\u4f20\u611f\u5668\u5750\u6807\u7cfb velodyne\uff0c\u5b83\u4eec\u4e4b\u95f4\u7684\u5173\u7cfb\u5982\u56fe\u6240\u793a\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-tf.png\"><img loading=\"lazy\" class=\"alignnone wp-image-9582\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-tf.png\" alt=\"\" width=\"275\" height=\"311\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-tf.png 578w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-tf-266x300.png 266w\" sizes=\"(max-width: 275px) 100vw, 275px\" \/><\/a><\/p>\n<p>\u4ece world \u5230 map \u7684\u5750\u6807\u7cfb\u8f6c\u6362\u4e0e\u4ece base_link \u5230 velodyne \u7684\u5750\u6807\u7cfb\u8f6c\u6362\u662f\u56fa\u5b9a\u7684\uff0c\u7528 ROS \u7684 TF \u5373\u53ef\u3002\u4ece map \u5230 base_link \u7684\u6620\u5c04\u5c31\u9700\u8981\u6b63\u6001\u5206\u5e03\u53d8\u6362\uff08NDT\uff09\u7b97\u6cd5\uff0cautoware \u5728\u5efa\u56fe\u91c7\u7528\u7684\u662f ndt_mapping\u3002<\/p>\n<h4>4. \u5efa\u56fe\u73af\u5883<\/h4>\n<ul>\n<li>Lidar\uff1a\u96f7\u795e16\u7ebf\uff08\u683c\u5f0f\u4e0evelodyne\u4e00\u81f4\uff09<\/li>\n<li>IMU\uff1aH30<\/li>\n<li>\u5e95\u76d8\uff1aWheelTech\u963f\u514b\u66fc\u5e95\u76d8<\/li>\n<li>OS\uff1aUbuntu 20.04<\/li>\n<li>Autoware\uff1aautoware.ai docker<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/h1>\n<h4>1. \u7f16\u8bd1Autoware.ai<\/h4>\n<p>\u7531\u4e8eAutoware.ai 1.x\u7248\u672c\u6e90\u7801\u7f16\u8bd1\u53ea\u652f\u6301\u5230Ubuntu 18\uff0c\u624b\u4e0a\u5df2\u7ecf\u6ca1\u6709\u8fd9\u4e2a\u7248\u672c\u7684\u8bbe\u5907\uff0c\u6240\u4ee5\u8fd9\u91cc\u76f4\u63a5\u5728Ubuntu 20.04\u4e0b\u7528docker\u73af\u5883\u6765\u7f16\u8bd1\u3002\u5177\u4f53\u65b9\u6cd5\u4e0d\u518d\u8d58\u8ff0\uff0c\u8be6\u89c1\uff1a<\/p>\n<ul>\n<li><a href=\"https:\/\/yanjingang.com\/blog\/?p=9911\" target=\"_blank\" rel=\"noopener\">Autoware\u2014AI\u7248\u672c\u7684\u90e8\u7f72<\/a><\/li>\n<\/ul>\n<h4>2. \u4f20\u611f\u5668\u6570\u636e<\/h4>\n<p>\u9700\u8981\u51c6\u5907\u4ee5\u4e0b3\u4e2atopic\u7684\u8f93\u51fa<\/p>\n<h6>2.1 \u96f7\u8fbe\uff1a\/points_raw<\/h6>\n<p>Autoware \u9ed8\u8ba4\u4f7f\u7528 velodyne \u96f7\u8fbe\uff0c\u9ed8\u8ba4\u8ba2\u9605\u7684\u96f7\u8fbe\u8bdd\u9898\u4e3a\/points_raw\uff0c\u96f7\u8fbe\u8bdd\u9898\u7684 frame_id \u4e3a velodyne\u3002\u4f7f\u7528\u96f7\u8fbe\u9a71\u52a8\u5305\u65f6\uff0c\u96f7\u8fbe\u8bdd\u9898\u540d\u79f0\u4e0e frame_id \u5fc5\u987b\u4e0e\u4e0a\u8ff0\u7684\u4e00\u81f4\u3002\u5e27\u738720hz\u3002<\/p>\n<h6>2.2 IMU\uff1a\/imu_raw<\/h6>\n<p>\u9ed8\u8ba4\u8ba2\u9605\u7684IMU\u8bdd\u9898\u4e3a\/imu_raw\uff0c\u5e27\u7387200hz\u3002<\/p>\n<h6>2.3 \u5c0f\u8f66\u91cc\u7a0b\u8ba1\uff1a\/vehicle\/odom<\/h6>\n<p>Autoware \u4e2d Localization \u81ea\u5b9a\u4f4d\u6a21\u5757\u4f7f\u7528\u6b63\u6001\u53d8\u6362\u7b97\u6cd5\u6765\u5339\u914d\u96f7\u8fbe\u5f53\u524d\u5e27\u548c3D \u5730\u56fe\u6765\u5b9e\u73b0\u5b9a\u4f4d\uff0c\u540c\u65f6\u4e5f\u53ef\u4ee5\u52fe\u9009\u4f7f\u7528\u91cc\u7a0b\u8ba1\u6765\u8f85\u52a9\u5b9a\u4f4d\uff0c\u9ed8\u8ba4\u8ba2\u9605\u91cc\u7a0b\u8ba1\u8bdd\u9898\u4e3a\/vehicle\/odom \u8bdd\u9898\uff0c\u4f7f\u7528\u5230\u91cc\u7a0b\u8ba1\u5b9a\u4f4d\u65f6\uff0c\u9700\u53d1\u5e03\u8bdd\u9898\u4e3a\/vehicle\/odom \u7684\u91cc\u7a0b\u8ba1\u8bdd\u9898\uff0c\u5e27\u738720hz\u3002<\/p>\n<h6>2.4 RTK\uff1a\/gps\/fix<\/h6>\n<p>G70+4GDTU\u63d2\u5165\u4e0a\u7f51\u5361\u5e76\u914d\u7f6e\u5343\u5bfb\u8d26\u53f7\u540e\uff0c\u53ef\u4ee5\u8f93\u5165\u5398\u7c73\u7ea7\u7684RTK\u6570\u636e\uff0c\u53d1\u5e03\u7684\u8bdd\u9898\u4e3a\/gps\/fix\uff0c\u5e27\u73875hz\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001\u5f55\u5236ROSBAG<\/h1>\n<h4>1. \u542f\u52a8\u5e95\u76d8+\u4f20\u611f\u5668+Autoware<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 1. \u542f\u52a8\u5e95\u76d8+\u4f20\u611f\u5668\r\nroslaunch turn_on_wheeltec_robot open_autoware.launch\r\n\r\n# \u68c0\u67e5topic\u5e27\u7387\r\nrostopic hz \/imu_raw \/points_raw \/vehicle\/odom \/gps\/fix \/tf \/camera\/rgb\/image_raw \r\n# \u68c0\u67e5topic\u65f6\u95f4\u6233\u662f\u5426\u6b63\u5e38\r\nrostopic echo \/imu_raw \/gps\/fix -p\r\n\r\n# 2. \u542f\u52a8Autoware\r\ncd ~\/autoware.ai\/\r\n.\/open.sh\r\nsource ~\/Autoware\/install\/setup.bash\r\nroslaunch runtime_manager runtime_manager.launch<\/code><\/pre>\n<h4>2. \u5f55\u5236 ROSBAG<\/h4>\n<p>\u5f55\u5236 ROSBAG \u4e3b\u8981\u662f\u4e3a\u4e86\u540e\u9762\u7684\u5efa\u56fe\u4ee5\u53ca\u751f\u6210\u5bfc\u822a\u7684\u8def\u5f84\u70b9\u6587\u4ef6\u9700\u8981\u3002Autoware \u5efa\u56fe\u65b9\u5f0f\u662f\u5229\u7528 rosbag \u5305\u8fdb\u884c\u79bb\u7ebf\u5efa\u56fe\uff0c\u56e0\u6b64\u6211\u4eec\u5148\u5f55\u6570\u636e\uff08\u6ce8\uff1a\u5f55\u5236\u7684\u8fc7\u7a0b\u4e2d\uff0c\u9002\u5f53\u63a7\u5236\u8f66\u901f\uff0c\u5c3d\u91cf\u907f\u514d\u538b\u5751\u6216\u8f66\u8eab\u5267\u70c8\u6296\u52a8\uff0c\u4f1a\u5f71\u54cd\u5efa\u56fe\u6548\u679c\uff09\u3002<\/p>\n<p>\u9700\u8981\u5f55\u5236\u7684\u8bdd\u9898\u5217\u8868\uff1a<\/p>\n<ul>\n<li>IMU\u8bdd\u9898 \/imu_raw<\/li>\n<li>\u96f7\u8fbe\u8bdd\u9898 \/points_raw<\/li>\n<li>\u91cc\u7a0b\u8ba1\u8bdd\u9898 \/vehicle\/odom<\/li>\n<li>RTK\u8bdd\u9898 \/gps\/fix<\/li>\n<\/ul>\n<p>\u5728 Autoware \u754c\u9762\u4e2d\uff0c\u70b9\u51fb[ROSBAG]\u6309\u94ae\uff0c\u5728\u5f39\u51fa\u6765\u7684\u754c\u9762\u4e2d\u70b9\u51fb[Ref]\u9009\u62e9 ROSBAG \u7684\u5b58\u50a8\u8def\u5f84\uff08docker \u5b89\u88c5\u65b9\u5f0f\u7684\u6ce8\u610f\u4fdd\u5b58\u5728 autoware_shared_dir \u76ee\u5f55\u4e0b\u9762\uff09\uff0c\u7136\u540e\u52fe\u9009\u8bdd\u9898\uff0c\u70b9\u51fb\u201cstart\u201d\u5373\u53ef\u5f00\u59cb\u5f55\u5236\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9576\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record.png\" alt=\"\" width=\"801\" height=\"689\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record.png 801w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-300x258.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-768x661.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-624x537.png 624w\" sizes=\"(max-width: 801px) 100vw, 801px\" \/><\/a><\/p>\n<p>\u70b9\u51fb\u5f00\u59cb\u5f55\u5236\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7\u5e95\u76d8\u9065\u63a7\u6216ros\u952e\u76d8\u63a7\u5236\u547d\u4ee4\u63a7\u5236\u5c0f\u8f66\u79fb\u52a8\u3002<\/p>\n<p>\u4e5f\u53ef\u4ee5\u4f7f\u7528\u547d\u4ee4\u5f55\u5236\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># rosbag\u5f55\u5305\uff08\u7528\u4e8e\u79bb\u7ebf\u5efa\u56fe\uff09\r\n rosbag record \/imu_raw \/points_raw \/vehicle\/odom \/gps\/fix \/gps\/vel \/tf \/camera\/rgb\/image_raw<\/code><\/pre>\n<p>\u5f55\u5236\u5b8c\u6210\u540e\u70b9\u51fb[stop]\u6309\u94ae\u4fbf\u53ef\u7ed3\u675f\u5f55\u5236\uff0c\u5f55\u5236\u7684 bag \u6587\u4ef6\u4f1a\u81ea\u52a8\u4fdd\u5b58\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9578\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save.png\" alt=\"\" width=\"804\" height=\"684\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save.png 804w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save-300x255.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save-768x653.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-record-save-624x531.png 624w\" sizes=\"(max-width: 804px) 100vw, 804px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1a\u5982\u679c\u5e95\u76d8\u91cc\u7a0b\u8ba1\u4e0d\u7cbe\u51c6\uff08\u4f8b\u5982\u65e0\u6cd5\u8d70\u76f4\u7ebf\uff09\uff0c\u5219\u4e0d\u7528\u5f55\u5236\/vehicle\/odom\uff0c\u540e\u7eed\u5efa\u56fe\u65f6\u53ef\u4ee5\u901a\u8fc7\u5b9e\u65f6rtk+imu\u878d\u5408\u751f\u6210odom\u4f9bndt\u4f7f\u7528\u3002<\/p>\n<p>\u5f55\u5236\u540e\uff0c\u5fc5\u987b\u5173\u95edAutoware\u548c\u5e95\u76d8\u7a0b\u5e8f\uff0c\u5426\u5219\u4f1a\u5f71\u54cd\u63a5\u4e0b\u6765\u7684\u5efa\u56fe\u3002<\/p>\n<h1><\/h1>\n<h1>\u56db\u3001\u4f7f\u7528ROSBAG\u5efa\u56fe<\/h1>\n<h4>1. \u91cd\u542fAutoware<\/h4>\n<p>\u64ad\u5305\u4e0d\u80fd\u4e0e\u5e95\u76d8topic\u540c\u65f6\u8f93\u51fa\uff0c\u6240\u4ee5\u8fd9\u91cc\u9700\u8981\u628a\u5e95\u76d8\u8282\u70b9\u5173\u95ed\u6389\uff0c\u628aAutoware\u8282\u70b9\u91cd\u542f\u4e00\u4e0b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u91cd\u542fAutoware\r\ncd ~\/autoware.ai\/\r\n.\/open.sh\r\nroslaunch runtime_manager runtime_manager.launch\r\n<\/code><\/pre>\n<h4>2. \u52a0\u8f7d\u4ecebase_link\u5230Lidar\u5750\u6807\u7cfb\u7684TF\u3001\u5c0f\u8f66\u6a21\u578b<\/h4>\n<p>\u70b9\u51fb\u8fdb\u5165\u3010Setup\u3011\u83dc\u5355\uff0c\u5206\u522b\u8bbe\u7f6eLocalizer\u3001TF\u3001Vehicle Model\uff1a<\/p>\n<ul>\n<li>\u5728\u3010Localizer\u3011\u4e2d\u9009\u62e9Velodyne\u3002<\/li>\n<li>\u5728\u3010Baselink to Localizer\u3011\u4e2d\u8bbe\u7f6e\u597d\u5404\u4e2a\u53c2\u6570\uff0c\u5176\u4e2d x\u3001y\u3001z\u3001yaw\u3001pitch\u3001roll\u8868\u793a\u5b9e\u8f66\u96f7\u8fbe\u4e2d\u5fc3\u70b9\u4e0e\u8f66\u8eab\u540e\u8f74\u4e2d\u5fc3\u70b9\u7684 TF \u4f4d\u7f6e\u5173\u7cfb\uff0c\u53ef\u6839\u636e\u96f7\u8fbe\u5b9e\u9645\u4f4d\u7f6e\u8fdb\u884c\u4fee\u6539\uff0c\u8bbe\u7f6e\u597d\u4e4b\u540e\u70b9\u51fb \u3010TF\u3011 \u6309\u94ae\u3002\n<ul>\n<li>x\uff1aLidar\u4e2d\u5fc3\u70b9\u5230\u540e\u8f74\u4e2d\u5fc3\u70b9\u7684\u524d\u540e\u8ddd\u79bb\u5dee\uff0c\u5355\u4f4d\u4e3a\u7c73\u3002Lidar\u76f8\u8f83\u540e\u8f74\u66f4\u8d85\u524d\u5b89\u88c5\u4e3a\u6b63\u503c\uff0c\u5f80\u540e\u4e3a\u8d1f\u503c\u3002\u6211\u8fd9\u91cc\u5b9e\u9645\u6d4b\u91cf\u662f0.26<\/li>\n<li>y\uff1aLidar\u4e2d\u5fc3\u70b9\u5230\u8f74\u4e2d\u5fc3\u70b9\u7684\u5de6\u53f3\u8ddd\u79bb\u5dee\uff0c\u5355\u4f4d\u4e3a\u7c73\u3002Lidar\u76f8\u8f83\u540e\u8f74\u4e2d\u5fc3\u70b9\u5f80\u5de6\u5b89\u88c5\u4e3a\u6b63\u503c\uff0c\u5f80\u53f3\u5b89\u88c5\u4e3a\u8d1f\u503c\u3002\u56e0\u4e3a\u6211\u7684Lidar\u5de6\u53f3\u662f\u5c45\u4e2d\u5b89\u88c5\u7684\uff0c\u6240\u4ee5\u8fd9\u91cc\u503c\u4e3a0<\/li>\n<li>z\uff1aLidar\u4e2d\u5fc3\u70b9\u8ddd\u79bb\u8f74\u4e2d\u5fc3\u70b9\u7684\u9ad8\u5ea6\u5dee\u5355\u4f4d\u4e3a\u7c73\u3002\u6211\u8fd9\u91cc\u52a0\u9ad8\u524dLidar\u8ddd\u5730\u9762\u9ad80.298\uff0c\u52a0\u9ad8\u540e\u8ddd\u5730\u97620.438\uff0c\u51cf\u53bb\u524d\/\u540e\u8f74\u4e2d\u5fc3\u70b9\u8ddd\u79bb\u5730\u9762\u9ad8\u5ea60.063\uff0c\u6240\u4ee5\u7528\u52a0\u9ad8\u524d\u91c7\u7684\u6570\u636e\u5efa\u56fe\u5e94\u8bbe\u7f6e\u4e3a0.235\uff0c\u7528\u52a0\u9ad8\u540e\u6570\u636e\u5e94\u8bbe\u7f6e\u4e3a0.375<\/li>\n<li>yaw\uff1a\u5bf9\u4e8e\u956d\u795e 16 \u7ebf\u96f7\u8fbe\u53c2\u6570\u5148\u56fa\u5b9a\u8bbe\u7f6e\u6210-1.57\uff0c\u540e\u4fbf\u6709\u7a7a\u65f6\u8bd5\u4e0b\u6539\u4e3a0\u662f\u5426\u6709\u5f71\u54cd<\/li>\n<\/ul>\n<\/li>\n<li>docker\u7248\u672c\u7684urdf\u5c0f\u8f66\u6a21\u578b\u5728 autoware_shared_dir\/urdf \u76ee\u5f55\u4e0b\u9762\uff0c\u9009\u62e9\u540e\u70b9\u51fb\u3010Vehicle Model\u3011\u52a0\u8f7d\u6a21\u578b\uff08\u5982\u679cVehicle Model\u4e3a\u7a7a\uff0c\u90a3\u4e48\u4f1a\u52a0\u8f7d\u4e00\u4e2a\u9ed8\u8ba4\u6a21\u578b\uff0c\u5728 rviz \u663e\u793a\u65f6\uff0c\u5982\u679c\u6709\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u8f66\u8f86\u4f1a\u663e\u793a\u4e3a\u9ed1\u8272\uff09\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9938\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup-1024x648.png\" alt=\"\" width=\"625\" height=\"396\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup-1024x648.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup-300x190.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup-768x486.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup-624x395.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-runtimemanager-setup.png 1102w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h4>3. \u8bbe\u7f6e\u4ece world \u5230 map \u8f6c\u6362<\/h4>\n<p>\u70b9\u51fb\u3010Map\u3011\u83dc\u5355\uff0c\u52a0\u8f7d world \u5230 map \u7684\u5750\u6807\u8f6c\u6362\uff1a<\/p>\n<ul>\n<li>\u70b9\u51fb\u3010TF\u3011\u53f3\u4fa7\u7684\u3010ref\u3011\u6309\u94ae\uff0c\u9009\u62e9~\/autoware_shared_dir\/lgsvl-tf.launch \u6587\u4ef6\u540e<\/li>\n<li>\u70b9\u51fb\u3010TF\u3011\u6309\u94ae\u52a0\u8f7d\u8be5\u6587\u4ef6\uff0c\u4ee5\u52a0\u8f7d world \u5230 map \u7684\u5750\u6807\u8f6c\u6362<\/li>\n<\/ul>\n<pre class=\"pure-highlightjs\"><code class=\"\">cat ~\/autoware_shared_dir\/lgsvl-tf.launch\r\n    &lt;launch&gt;\r\n        &lt;node pkg=\"tf\" type=\"static_transform_publisher\" name=\"world_to_map\" args=\"0 0 0 0 0 0 \/world \/map 10\" \/&gt;\r\n    &lt;\/launch&gt;<\/code><\/pre>\n<h4><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9667\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf-1024x644.png\" alt=\"\" width=\"625\" height=\"393\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf-1024x644.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf-300x189.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf-768x483.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf-624x393.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-map-tf.png 1116w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h4>\n<h4>4. \u914d\u7f6e\u5e76\u542f\u52a8ndt-mapping\uff08map\u5230 base_link\u7684\u8f6c\u6362\uff09<\/h4>\n<p>\u5728\u3010Compulting\u3011\u83dc\u5355\u680f\u627e\u5230\u3010lidar_localizer\u3011\u4e0b\u7684\u3010ndt_mapping\u3011\u9009\u9879\uff0c\u5148\u70b9\u51fb\u5176\u53f3\u4fa7\u7684\u3010app\u3011\u8bbe\u7f6e\u4e00\u4e9b\u53c2\u6570\uff08\u5bf9 app \u5185\u7684\u53c2\u6570\u6570\u636e\u4fee\u6539\u5b8c\u6210\u65f6\uff0c\u5fc5\u987b\u6309\u56de\u8f66\u952e\uff0c\u5de6\u4fa7\u7684\u6ed1\u52a8\u680f\u4f4d\u7f6e\u53d1\u751f\u53d8\u5316\u540e\u6570\u636e\u624d\u80fd\u4fdd\u5b58\u6210\u529f\uff09\u3002<\/p>\n<p>Ndt_Mapping \u6709\u4e00\u4e9b\u53c2\u6570\u8bbe\u7f6e\u9700\u8981\u6ce8\u610f\u4e00\u4e0b\uff1a<\/p>\n<ul>\n<li>Resolution\uff1andt \u5206\u8fa8\u7387\uff0c\u6700\u5927\u5efa\u56fe\u7cbe\u5ea6\uff0c\u9ed8\u8ba4\u4e3a 1 \u5373\u53ef\uff0c\u5ba4\u5916\u8303\u56f4\u8f83\u5927\u65f6\u5efa\u8bae\u8bbe\u4e3a<span style=\"color: #ff0000;\">2<\/span><\/li>\n<li>Step size\uff1a\u6b65\u957f\uff0c\u9ed8\u8ba4\u4e3a 0.1<\/li>\n<li>Transformation epsilon\uff1a\u4e24\u6b21\u6b63\u6001\u53d8\u6362\u5141\u8bb8\u7684\u6700\u5927\u503c\uff0c\u9ed8\u8ba4\u4e3a 0.01 \u7c73<\/li>\n<li>Maximum iterations\uff1a\u6700\u5927\u8fed\u4ee3\u6b21\u6570\uff0c\u9ed8\u8ba4\u4e3a 30 \u6b21<\/li>\n<li>Leaf size\uff1a\u70b9\u4e91\u964d\u91c7\u6837\u7528\u7684\u4f53\u7d20\u53f6\u5927\u5c0f\uff0c\u5ba4\u5185\u53ef\u8bbe\u7f6e\u5c0f\u70b9\uff0c\u5ba4\u5916\u53ef\u8bbe\u7f6e\u5927\u70b9<span style=\"color: #ff0000;\">1-2\u7c73<\/span><\/li>\n<li>Minimum scan range\uff1a\u8bbe\u7f6e\u96f7\u8fbe\u6700\u5c0f\u8303\u56f4\uff0c\u8fc7\u6ee4\u8f83\u8fd1\u5904\u96f7\u8fbe\u70b9\u4e91\uff0c\u63a8\u8350\u8bbe\u7f6e\u5c0f\u70b9\uff1a<span style=\"color: #ff0000;\">0.15<\/span> \u7c73<\/li>\n<li>Maximum scan range\uff1a\u8bbe\u7f6e\u96f7\u8fbe\u6700\u5927\u8303\u56f4\uff0c\u8fc7\u6ee4\u8f83\u8fdc\u5904\u96f7\u8fbe\u70b9\u4e91\uff0c\u9ed8\u8ba4 200\u7c73<\/li>\n<li>Maximum add scan shift\uff1a\u524d\u5e27\u8ddd\u79bb\u4e0a\u4e00\u4e2a\u5173\u952e\u5e27\u4f4d\u79fb\u8d85\u8fc7\u9608\u503c\u5219\u8ba4\u4e3a\u5f53\u524d\u5e27\u4e3a\u5173\u952e\u5e27\uff0c\u9ed8\u8ba41\u7c73<\/li>\n<li>\u5728[method type]\u680f\u4e2d\uff0c\u52fe\u9009[pcl_anh]\u9009\u9879\uff08\u9009\u5176\u4e2d\u4e00\u4e2a\uff0c\u6700\u7ec8\u8282\u70b9\u80fd\u6210\u529f\u8fd0\u884c\u5373\u53ef\u3002\u8fd0\u884c\u5931\u8d25\u53ef\u4ee5\u5c1d\u8bd5\u52fe\u9009\u5176\u4ed6\u9009\u9879\u3002\u76ee\u524d\u6d4b\u8bd5\u4f7f\u7528[pcl_anh_gpu]\u65e0\u6cd5\u663e\u793a\u5efa\u56fe\u8fdb\u5ea6\uff0c\u7528[<span style=\"color: #ff0000;\">pcl_anh<\/span>]\u9009\u9879\u6b63\u5e38\uff09\u3002<\/li>\n<li>\u5982\u679c\u8981\u7528\u5230\u91cc\u7a0b\u8ba1\u6216imu\u8f85\u52a9\u5b9a\u4f4d\u7684\uff0c\u628a[use odometry]\u3001[<span style=\"color: #ff0000;\">use imu<\/span>]\u9009\u9879\u52fe\u9009\u4e0a\u3002\uff08*\u6ce8\uff1a\u5f88\u591a\u5e95\u76d8<span style=\"color: #ff0000;\">\u76f4\u884c\u65f6\u4fa7\u504f<\/span>\u7684\u5389\u5bb3\uff0c\u6216\u8005\u5e95\u76d8\u884c\u9a76\u4e2d\u51fa\u73b0<span style=\"color: #ff0000;\">\u6253\u6ed1<\/span>\u7684\u60c5\u51b5\u4e0b\uff0c\u5efa\u56fe\u65f6\u90fd<span style=\"color: #ff0000;\">\u4e0d\u8981\u4f7f\u7528\u5e95\u76d8\u7684odom\u91cc\u7a0b\u8ba1<\/span>\uff0c\u4f1a\u5f92\u589e\u5e72\u6270\u5bfc\u81f4\u5730\u56fe\u504f\u79fb\u3002\u53ea\u4f7f\u7528200hz\u7684imu\u4f1a\u6bd4\u5e95\u76d8odom\u91cc\u7a0b\u8ba1\u7cbe\u51c6\uff09<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9682\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping-1024x630.png\" alt=\"\" width=\"625\" height=\"385\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping-1024x630.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping-300x185.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping-768x473.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping-624x384.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-set-ndt_mapping.png 1126w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u8bbe\u7f6e\u5b8c\u53c2\u6570\u70b9\u51fb\u3010Close\u3011\u6309\u94ae\u540e\uff0c\u52fe\u9009\u3010ndt_mapping\u3011\u4ee5\u542f\u52a8ndt\u5efa\u56fe\u6a21\u5757\u3002<\/p>\n<h4>5. \u52a0\u8f7d\u70b9\u4e91\u6570\u636e.bag\u6587\u4ef6<\/h4>\n<ul>\n<li>\u70b9\u51fbAutoware\u7684 \u3010Simulaton\u3011 Tab\u9875\uff0c\u70b9\u51fb\u754c\u9762\u53f3\u4e0a\u65b9\u3010Ref\u3011 \u6309\u94ae\uff0c\u52a0\u8f7d\u4e0a\u4e00\u6b65\u9aa4\u5f55\u5236\u7684 bag \u6587\u4ef6\u3002<\/li>\n<li>\u70b9\u51fb\u3010Play\u3011\u6309\u94ae\u5f00\u59cb\u64ad\u653e\u6570\u636e\uff0c\u6b64\u65f6\u53f3\u8fb9\u4f1a\u663e\u793a\u64ad\u5305\u8fdb\u5ea6\u6761\uff0c\u5728\u547d\u4ee4\u884c\u7a97\u53e3\u4e5f\u53ef\u4ee5\u770b\u5230ndt\u7684\u5efa\u56fe\u8fdb\u5ea6\u3002<\/li>\n<li>\u4e5f\u53ef\u4ee5\u624b\u52a8\u64ad\u5305\uff1a\uff08\u5982\u679c\u6709\u56de\u73af\u4f4d\u7f6e\u6709\u4ea4\u9519\u7684\u60c5\u51b5\uff0c\u53ef\u4ee5\u68c0\u67e5tf\u662f\u5426\u51c6\u786e\uff0c\u5e76\u9002\u5f53\u53bb\u6389\u4e00\u90e8\u5206\u521a\u5f00\u59cb\u91c7\u96c6\u7684\u6570\u636e\uff09<\/li>\n<\/ul>\n<pre class=\"pure-highlightjs\"><code class=\"\">rosbag play autoware-20241124082629.bag -r 0.1 -s 60 --duration=1796<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9757\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam-1024x904.png\" alt=\"\" width=\"625\" height=\"552\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam-1024x904.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam-300x265.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam-768x678.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam-624x551.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-slam.png 1172w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<ul>\n<li>\u547d\u4ee4\u884c\u6700\u4e0b\u8fb9\u7684\u5efa\u56fe\u8fdb\u5ea6\u90e8\u5206\uff0c\u5de6\u8fb9\u6570\u5b57\u4e3a\u5df2\u5904\u7406\u7684\u6570\u636e\uff0c\u53f3\u4fa7\u7684\u6570\u5b57\u4e3a\u603b\u7684\u6570\u636e\u3002<\/li>\n<li>\u5982\u679c\u662f\u5d4c\u5165\u5f0f\u8bbe\u5907\uff0c\u4e8c\u8005\u76f8\u5dee\u592a\u5927\u7a0b\u5e8f\u6709\u53ef\u80fd\u672a\u5904\u7406\u6570\u636e\u79ef\u6512\u592a\u591a\u5bfc\u81f4\u5361\u6b7b\uff0c\u63a8\u8350\u76f8\u5dee 200 \u5de6\u53f3\u5c31\u6309\u4e0b\u3010Pause\u3011\u6309\u94ae\u6682\u505c\u64ad\u653e\u6570\u636e\uff0c\u7b49\u5f85\u5f53\u524d\u6570\u636e\u5904\u7406\u5b8c\u6210\u5c31\u518d\u6b21\u70b9\u51fb\u3010Pause\u3011\u6309\u94ae\u7ee7\u7eed\u64ad\u653e\u6570\u636e\u5373\u53ef\u3002<\/li>\n<li>\u5982\u679c\u91c7\u96c6\u7684\u5730\u56fe\u8303\u56f4\u975e\u5e38\u5927\uff0c\u4f8b\u59823-4km\u4ee5\u4e0a\uff0cbag\u5305\u5de6\u4e0b\u65b9\u7684<span style=\"color: #ff0000;\">Rate<\/span>\u56de\u653e\u7684\u901f\u5ea6\u5efa\u8bae\u8bbe\u7f6e\u4e3a<span style=\"color: #ff0000;\">0.1<\/span>\u500d\u901f\uff0c\u53ef\u4ee5\u907f\u514d\u51fa\u73b0\u79ef\u6512\u592a\u591a\u672a\u5904\u7406\u7684\u6570\u636e\u5bfc\u81f4std::<span style=\"color: #ff0000;\">bad_alloc<\/span>\u9519\u8bef\u3002\u5982\u679c\u79ef\u6512\u7684\u592a\u591a\uff0c\u5fc5\u8981\u7684\u8bdd\u53ef\u4ee5\u70b9\u51fb\u3010Pause\u3011\u6682\u505c\uff0c\u7b49\u5f85\u5904\u7406\u8ddf\u4e0a\u540e\u518d\u7ee7\u7eed\u64ad\u653e\u5904\u7406\u3002<\/li>\n<li>\u5982\u679c\u7cfb\u7edf\u8d1f\u8f7d\u5f88\u4f4e\u5219\u53ef\u4ee5\u5ffd\u7565\uff0cndt\u7b97\u6cd5\u770b\u8d77\u6765\u5e76\u884c\u5904\u7406\u6027\u80fd\u4e0a\u4e0d\u662f\u5f88\u597d\uff0c\u8010\u5fc3\u7b49\u5f85\u5efa\u56fe\u5b8c\u6210\u5373\u53ef\u3002<\/li>\n<\/ul>\n<h4>7. \u4fdd\u5b58 3D \u70b9\u4e91\u5730\u56fe<\/h4>\n<h6>7.1 \u68c0\u67e5\u5efa\u56fe\u8fdb\u5ea6<\/h6>\n<p>\u7b49\u5f85\u70b9\u4e91\u6570\u636e\u52a0\u8f7d\u5b8c\u6bd5\uff0c\u547d\u4ee4\u884c\u505c\u6b62\u6253\u5370\u76f8\u5173\u65e5\u5fd7\u65f6\uff0c\u5efa\u56fe\u8fc7\u7a0b\u5373\u5b8c\u6210\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9695\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done-1024x788.png\" alt=\"\" width=\"625\" height=\"481\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done-1024x788.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done-300x231.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done-768x591.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done-624x480.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-mapping-done.png 1299w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>7.2 \u4fdd\u5b58PCD\u5730\u56fe<\/h6>\n<p>\u56de\u5230\u3010Compulting\u3011\u83dc\u5355\u680f\u7684\u3010ndt_mapping\u3011\u9009\u9879\uff0c\u70b9\u51fb\u5176\u53f3\u4fa7\u7684\u3010app\u3011\uff0c\u5728\u3010ref\u3011\u4e2d\u9009\u62e9\u70b9\u4e91\u5730\u56fe\u4fdd\u5b58\u7684\u8def\u5f84\u540e\uff0c\u70b9\u51fb\u3010PCD OUTPUT\u3011\u6309\u94ae\u5373\u53ef\u4fdd\u5b58\u70b9\u4e91\u5730\u56fe\uff08\u6ce8\u610f\uff1adocker\u7248\u672c\u7684\u9700\u8981\u4fdd\u5b58\u5728~\/autoware_shared_dir\u76ee\u5f55\u4e0b\u9762\uff09\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9696\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd-1024x620.png\" alt=\"\" width=\"625\" height=\"378\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd-1024x620.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd-300x182.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd-768x465.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd-624x378.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-export-pcd.png 1309w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u4e5f\u53ef\u4ee5\u5199\u4e2a\u811a\u672c\u8ba2\u9605ndt_map\u7684topic\u4fdd\u5b58\u5730\u56fe\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">$ vim ~\/Autoware\/src\/autoware\/utilities\/data_preprocessor\/scripts\/save_pcd.py\r\n\r\n#!\/usr\/bin\/env python3\r\n# \u81ea\u52a8\u5b9a\u65f6\u4fdd\u5b58ndt_mapping\u5730\u56fe\u5230pcd\u6587\u4ef6\r\n#   python3 save_pcd.py ${topic_name} ${save_path}\r\n#   python3 ~\/Autoware\/src\/autoware\/utilities\/data_preprocessor\/scripts\/save_pcd.py \/ndt_map \/media\/work\/FelixSSD\/autoware\/autoware_shared_dir\/bag\/map-6-park\/pcd\r\n#\r\n\r\nimport sys\r\nimport os\r\nimport time\r\nimport rospy\r\nimport numpy as np\r\nimport cv2\r\nimport pcl\r\nimport sensor_msgs.point_cloud2 as pc2\r\nfrom sensor_msgs.msg import PointCloud2\r\nfrom cv_bridge import CvBridge\r\n\r\nclass SavePcd:\r\n    def __init__(self):\r\n        self.save_path = None\r\n        self.filter_resolution = 0.2\r\n        self.save_count = 0\r\n\r\n    def save_pcd(self, msg):\r\n        filename = self.save_path + '\/pcd' + '_' + \"{:.5f}\".format(time.time()) + '.pcd'\r\n        print(\"save_pcd start \", filename)\r\n\r\n        cloud = pcl.PointCloud(np.array(list(pc2.read_points(msg)), dtype=np.float32)[:, 0:3])\r\n        if self.filter_resolution &gt; 0.0:\r\n            sor = cloud.make_voxel_grid_filter()\r\n            sor.set_leaf_size(self.filter_resolution, self.filter_resolution, self.filter_resolution)\r\n            cloud_filtered = sor.filter()\r\n            cloud_filtered.to_file(filename.encode())\r\n        else:\r\n            cloud.to_file(filename.encode())\r\n\r\n        self.save_count += 1\r\n        print(\"save_pcd done!\")\r\n\r\n    def run(self):\r\n        try:\r\n            self.topic = sys.argv[1]\r\n            self.save_path = sys.argv[2]\r\n        except Exception as e:\r\n            sys.exit(\"Example: save_pcd.py topic_name save_path\")\r\n\r\n        rospy.init_node(\"save_pcd_node\", anonymous=True)\r\n        rospy.Subscriber(self.topic, PointCloud2, self.save_pcd)\r\n        # rospy.spin()\r\n        while True:\r\n            if self.save_count &gt; 0:\r\n                break\r\n\r\nif __name__ == '__main__':\r\n    pcd = SavePcd()\r\n    pcd.run()<\/code><\/pre>\n<p>\u5199\u4e2ashell\u5b9a\u65f6\u4fdd\u5b58\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">$ vim ~\/save_pcd.sh \r\nset -x\r\nset -e\r\necho $USER\r\nsource \/home\/work\/.bashrc\r\npython3 \/home\/work\/Autoware\/src\/autoware\/utilities\/data_preprocessor\/scripts\/save_pcd.py \/ndt_map \/media\/work\/FelixSSD\/autoware\/autoware_shared_dir\/bag\/map-6-park\/pcd\r\n\r\n$ crontab -e\r\n*\/10 * * * * \/bin\/bash \/home\/work\/save_pcd.sh &gt;&gt; \/tmp\/save_pcd.log 2&gt;&amp;1<\/code><\/pre>\n<h6><\/h6>\n<h6>7.3 \u67e5\u770bPCD\u5730\u56fe<\/h6>\n<p>\u4fdd\u5b58\u5b8c\u5730\u56fe\u4e4b\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7pcl_viewer\u67e5\u770b\u5f53\u524d\u5efa\u56fe\u6548\u679c\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">cd ~\/autoware_shared_dir\/bag\/map-2\/\r\npcl_viewer autoware-241118.pcd<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9768\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-1024x584.png\" alt=\"\" width=\"625\" height=\"356\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-1024x584.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-300x171.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-768x438.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-1536x876.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd-624x356.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-rtk-pcd.png 1850w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e94\u3001\u4f7f\u7528ROSBAG\/PCD\u751f\u6210\u8def\u5f84\u70b9<\/h1>\n<h4>1. \u91cd\u542fAutoware<\/h4>\n<p>\u540c\u4e0a\u4e00\u7ae0<\/p>\n<h4>2. \u52a0\u8f7d\u4ecebase_link\u5230Lidar\u5750\u6807\u7cfb\u7684TF\u3001\u5c0f\u8f66\u6a21\u578b<\/h4>\n<p>\u540c\u4e0a\u4e00\u7ae0<\/p>\n<h4>3. \u8bbe\u7f6e\u4ece world \u5230 map \u8f6c\u6362<\/h4>\n<p>\u540c\u4e0a\u4e00\u7ae0<\/p>\n<h4>4. \u52a0\u8f7d\u70b9\u4e91\u5730\u56fe PCD \u6587\u4ef6<\/h4>\n<ul>\n<li>\u6253\u5f00\u3010map\u3011\u9875\u9762\uff0c\u70b9\u51fb\u3010point cloud\u3011\u53f3\u4fa7\u7684\u3010ref\u3011\u6309\u94ae\uff0c\u9009\u62e9\u4e0a\u4e00\u6b65\u5efa\u56fe\u4fdd\u5b58\u76843D\u70b9\u4e91\u5730\u56fe.pcd\u6587\u4ef6<\/li>\n<li>\u70b9\u51fb\u3010point cloud\u3011\u6309\u94ae\uff0c\u6b64\u65f6\u4e0b\u65b9\u4f1a\u51fa\u73b0\u4e00\u4e2a\u8fdb\u5ea6\u6761\uff0c\u5f53\u8fdb\u5ea6\u6761\u663e\u793a\u52a0\u8f7d\u4e86 100\uff05\u5e76\u51fa\u73b0[OK]\u5b57\u6837\u65f6\uff0c\u8bc1\u660e 3D \u70b9\u4e91\u5730\u56fe\u5df2\u7ecf\u6210\u529f\u52a0\u8f7d\u5b8c\u6bd5<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9698\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load-1024x630.png\" alt=\"\" width=\"625\" height=\"385\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load-1024x630.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load-300x185.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load-768x473.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load-624x384.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-pointcloud-load.png 1141w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>5. \u70b9\u4e91\u964d\u91c7\u6837\u8fc7\u6ee4<\/h4>\n<p>\u6253\u5f00\u3010sensing\u3011\u9875\u9762\uff0c\u627e\u5230\u3010points_downsampler\u3011\u4e0b\u7684\u3010voxel_grid_filter\u3011\u9009\u9879\uff0c\u8bbe\u7f6e[app]\u7684\u4e00\u4e9b\u53c2\u6570\u540e\uff0c\u52fe\u9009[voxel_grid_filter]\u3002 [voxel_grid_filter]\u6709\u4e00\u4e9b\u53c2\u6570\u8bbe\u7f6e\u5982\u4e0b\u56fe\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9989\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1.png\" alt=\"\" width=\"807\" height=\"681\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1.png 807w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1-300x253.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1-768x648.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/voxel_grid_filter-0.1-624x527.png 624w\" sizes=\"(max-width: 807px) 100vw, 807px\" \/><\/a><\/p>\n<ul>\n<li>Voxel Leaf size\uff1a\u4f53\u7d20\u964d\u91c7\u6837\u7b97\u6cd5\u4e2d\u7684\u4f53\u7d20\u53f6\u5927\u5c0f\uff0c\u5ba4\u5185\u53ef\u8bbe\u7f6e\u5c0f\u70b9\uff0c\u5ba4\u5916\u53ef\u8bbe\u7f6e\u5927\u70b9<\/li>\n<\/ul>\n<h4>6. \u542f\u52a8ndt_matching\uff08\u4ece map \u5230 base_link \u7684\u8f6c\u6362\uff09<\/h4>\n<p>\u627e\u5230\u3010Computing\u3011\u5de6\u83dc\u5355\u680f\u4e0b\u7684\u3010ndt_matching\u3011\u9009\u9879\uff0c\u8bbe\u7f6e\u3010app\u3011\u91cc\u9762\u7684\u53c2\u6570\u540e\uff0c\u52fe\u9009\u3010ndt_matching\u3011\uff0c\u4e00\u4e9b\u53c2\u6570\u8bbe\u7f6e\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n<ul>\n<li>\u4f7f\u7528RTK\u65f6\uff0c\u3010topic:\/config\/ndt\u3011\u00a0\u52fe\u9009\u3010GNSS\u3011\u3002\u6ca1\u6709\u4f7f\u7528 GNSS\u65f6\uff0c\u3010topic:\/config\/ndt\u3011\u52fe\u9009 \u3010Initial_Pose\u3011\uff0cx\uff0cy\uff0cz\uff0croll\uff0cpitch\uff0cyaw \u7684\u503c\u8868\u793a\u5c0f\u8f66\u7684\u521d\u59cb\u4f4d\u7f6e\uff08\u9ed8\u8ba4\u5efa\u56fe\u8d77\u70b9\u4f4d\u7f6e\uff09\u3002<\/li>\n<li>\u5728[method type]\u680f\u4e2d\uff0c\u65e0 GPU \u52a0\u901f\u7684\u9009\u3010pcl_generic\u3011\uff0c\u6709 GPU \u52a0\u901f\u7684\u9009[pcl_anh_gpu]\u3002<\/li>\n<li>\u7528\u5230\u91cc\u7a0b\u8ba1\u548c imu \u8f85\u52a9\u5b9a\u4f4d\uff0c\u9700\u8981\u628a\u3010use odometry\u3011\u548c\u3010useimu\u3011\u9009\u9879\u52fe\u9009\u4e0a\uff0c\u5176\u4f59\u53c2\u6570\u53c2\u8003\u9ed8\u8ba4\u503c\u5c31\u53ef\u4ee5\u4e86\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/geo_pos_conv-step.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9837\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/geo_pos_conv-step.png\" alt=\"\" width=\"712\" height=\"630\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/geo_pos_conv-step.png 712w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/geo_pos_conv-step-300x265.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/geo_pos_conv-step-624x552.png 624w\" sizes=\"(max-width: 712px) 100vw, 712px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9997\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose.png\" alt=\"\" width=\"959\" height=\"514\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose.png 959w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose-300x161.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose-768x412.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/fix2tfpose-624x334.png 624w\" sizes=\"(max-width: 959px) 100vw, 959px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-9993\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7.png\" alt=\"\" width=\"959\" height=\"683\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7.png 959w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7-300x214.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7-768x547.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/ndt_matching-step-0.1-7-624x444.png 624w\" sizes=\"(max-width: 959px) 100vw, 959px\" \/><\/a><\/p>\n<h4>7. \u542f\u52a8[vel_pose_connect]<\/h4>\n<ul>\n<li>\u627e\u5230\u3010Computing\u3011 \u5de6\u83dc\u5355\u680f\u4e0b\u7684 \u3010vel_pose_connect\u3011<\/li>\n<li>\u6253\u5f00 \u3010app\u3011 \u5e76\u786e\u4fdd\u9009\u9879 [Simulation_Mode] \u6ca1\u6709\u88ab\u52fe\u9009\u3002<\/li>\n<li>\u9000\u51fa\u5e76\u52fe\u9009 \u3010vel_pose_connect\u3011\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9702\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect-1024x674.png\" alt=\"\" width=\"625\" height=\"411\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect-1024x674.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect-300x197.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect-768x506.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect-624x411.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-vel-pose-connect.png 1036w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>8. \u8bbe\u7f6e\u8def\u5f84\u70b9\u6587\u4ef6\u4fdd\u5b58\u8def\u5f84<\/h4>\n<ul>\n<li>\u627e\u5230\u3010Computing\u3011 \u53f3\u83dc\u5355\u680f\u4e0b\u7684 \u3010waypoint_saver\u3011 \uff0c\u6253\u5f00 \u3010app\u3011\u3002<\/li>\n<li>\u70b9\u51fb\u3010ref\u3011\u9009\u62e9\u4fdd\u5b58\u7684\u8def\u5f84\uff08\u6ce8\u610f\uff1a docker \u7248\u672c\u7684\u9700\u8981\u4fdd\u5b58\u5728~\/autoware_shared_dir \u76ee\u5f55\u4e0b\u9762\uff09\uff0c\u52fe\u9009\u4e0a\u3010save\/current_velocity\u3011\u3002<\/li>\n<li>\u9000\u51fa\u5e76\u52fe\u9009\u3010waypoint_saver\u3011\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9703\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver-1024x622.png\" alt=\"\" width=\"625\" height=\"380\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver-1024x622.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver-300x182.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver-768x466.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver-624x379.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-waypoint_saver.png 1122w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>9. \u52a0\u8f7d\u70b9\u4e91\u6570\u636e.bag\u6587\u4ef6<\/h4>\n<ul>\n<li>\u70b9\u51fbAutoware\u7684 \u3010Simulaton\u3011 Tab\u9875\uff0c\u70b9\u51fb\u754c\u9762\u53f3\u4e0a\u65b9\u3010Ref\u3011 \u6309\u94ae\uff0c\u52a0\u8f7d\u4e0a\u4e00\u6b65\u9aa4\u5f55\u5236\u7684 bag \u6587\u4ef6\u3002<\/li>\n<li>\u70b9\u51fb\u3010Play\u3011\u6309\u94ae\u5f00\u59cb\u64ad\u653e\u6570\u636e\uff0c\u7b49\u5f85\u6570\u636e\u5305\u56de\u653e\u7ed3\u675f\uff0c\u8def\u5f84\u70b9\u6587\u4ef6\u4f1a\u81ea\u52a8\u4fdd\u5b58\u5728\u8bbe\u7f6e\u597d\u7684\u8def\u5f84\u4e0b\u3002<\/li>\n<\/ul>\n<h4>11. rviz \u67e5\u770b\u8def\u5f84\u70b9<\/h4>\n<p>\u5728\u8def\u5f84\u70b9\u751f\u6210\u8fc7\u7a0b\u4e2d\uff0c\u6e90\u7801\u5b89\u88c5\u65b9\u5f0f\u7684\u53ef\u4ee5\u70b9\u51fb\u754c\u9762\u53f3\u4e0b\u89d2\u7684[rviz] \u6253\u5f00rviz\uff0c\u76f8\u5173\u914d\u7f6e\u5728~\/autoware.ai\/src\/autoware\/documentation\/autoware_quickstart_examples\/launch\/rosbag_demo\/default.rviz \u4e2d\uff08docker \u7248\u672c\u7684\u9700\u8981\u5728\u5c0f\u8f66\u4e0a\u8fd0\u884c rviz \u5355\u72ec\u6253\u5f00\uff0c\u76f8\u5173\u914d\u7f6e\u5728~\/autoware_shared_dir\/default.rviz \u4e2d\uff09\u3002\u6b64\u65f6\u6211\u4eec\u53ef\u4ee5\u770b\u5230 rviz \u4e2d\u9010\u6e10\u51fa\u73b0\u4e00\u6761\u8def\u5f84\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-9774\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-1024x612.png\" alt=\"\" width=\"625\" height=\"374\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-1024x612.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-300x179.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-768x459.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-1536x917.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint-624x373.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2024\/11\/autoware-ndt-waypoint.png 1636w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1><span style=\"font-size: 1rem;\">\u516d\u3001\u603b\u7ed3<\/span><\/h1>\n<p>\u597d\u4e86\uff0c\u4eca\u5929\u5e26\u5927\u5bb6\u5c1d\u8bd5\u4e86lidar+imu+rtk+ndt\u7684\u5efa\u56fe\u8fc7\u7a0b\uff0c\u6574\u4f53\u5efa\u56fe\u6548\u679c\u770b\u8d77\u6765\u8fd8\u4e0d\u9519\uff0c\u4e0b\u4e00\u6b21\u5e26\u5927\u5bb6\u4f7f\u7528\u8fd9\u4e2a\u5730\u56fe\u8fdb\u884c\u5b9a\u4f4d\u548c\u5bfc\u822a\u3002\u5982\u679c\u6ca1\u5565\u95ee\u9898\uff0c\u6211\u4eec\u5c31\u62c9\u5230\u516c\u56ed\u91cc\u6e9c\u6e9c\uff0c\u770b\u770b\u7279\u5f81\u70b9\u4e0d\u660e\u663e\u7684\u573a\u666f\u6548\u679c\u600e\u4e48\u6837\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_39784672\/article\/details\/125987962\" target=\"_blank\" rel=\"noopener\">\u70b9\u4e91\u964d\u91c7\u6837\uff08DownSampling\uff09<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_35635374\/article\/details\/121002668\" target=\"_blank\" rel=\"noopener\">\u5efa\u7acb\u5730\u56fe\u4e13\u680f\u4e4b5.2\uff1a\u4e09\u7ef4\u5168\u5c40\u5730\u56fe\u7684\u5f00\u6e90\u65b9\u6848\u53ca\u5bf9\u6bd4&#8211;NDT\u3001LOAM\u3001LIO-SAM\u3001ALOAM\u3001FLOAM\u3001Lego_loam\u3001SC-Lego-LOAM<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/Travis_X\/article\/details\/105455195\" target=\"_blank\" rel=\"noopener\">\u3010Autoware\u5165\u95e8\u6559\u7a0b\u3011\u5982\u4f55\u4f7f\u7528NDT\u6784\u5efa\u70b9\u4e91\u5730\u56fe<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/taste_cyn\/article\/details\/82737225\" target=\"_blank\" rel=\"noopener\">autoware\u4e0bndt_mapping\u8282\u70b9\u89e3\u8bfb<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_43303411\/article\/details\/119735667\" target=\"_blank\" rel=\"noopener\">autoware\u5b66\u4e601-\u5b9a\u4f4d\u6a21\u5757\u89e3\u6790\u4e4bndt_mappin<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/autowarefoundation\/autoware_ai\" target=\"_blank\" rel=\"noopener\">Autoware.AI<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/autowarefoundation\/autoware_ai_documentation\/wiki\/Generic-x86-Docker\" target=\"_blank\" rel=\"noopener\">Autoware AI Generic-x86-Docker<\/a><\/p>\n<p><a href=\"https:\/\/www.cnblogs.com\/lxzcloud\/p\/18354640\" target=\"_blank\" rel=\"noopener\">docker pull\u5931\u8d25\uff0c\u62a5connect: connection refused<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_21692851\/article\/details\/128909367\" target=\"_blank\" rel=\"noopener\">ubuntu20.04\u955c\u50cf\u65b9\u6cd5\u5b89\u88c5Autoware.ai<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/autowarefoundation\/autoware_ai_documentation\/wiki\/ROSBAG-Demo\" target=\"_blank\" rel=\"noopener\">Autoware.AI ROSBAG \u6f14\u793a<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/shizhuoduao\/article\/details\/100181229?spm=1001.2101.3001.6650.1&amp;utm_medium=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1-100181229-blog-107046979.pc_relevant_default&amp;depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1-100181229-blog-107046979.pc_relevant_default&amp;utm_relevant_index=2\" target=\"_blank\" rel=\"noopener\">Leaf size is too small for the input dataset \u89e3\u51b3\u529e\u6cd5<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/xiaojinger_123\/article\/details\/118720558\" target=\"_blank\" rel=\"noopener\">\u57fa\u4e8e\u5df2\u77e5\u70b9\u4e91\u5730\u56fe\u7684NDT\u7684\u6fc0\u5149SLAM\u5b9a\u4f4d<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/qq_44909038\/article\/details\/120285756\" target=\"_blank\" rel=\"noopener\">\u591a\u4f20\u611f\u878d\u5408\u5b9a\u4f4d\uff08\u516d\uff09\u2014\u2014 autoware NDT\u5355\u72ec\u6d4b\u8bd5<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/So____\/article\/details\/129566492?spm=1001.2014.3001.5502\" target=\"_blank\" rel=\"noopener\">Autoware\u5b9e\u8f66\u6d4b\u8bd5\u8bb0\u5f55\uff08\u4e00\uff09&#8211;\u524d\u671f\u51c6\u5907\u4ee5\u53ca\u4f7f\u7528Autoware Maptool\u63d2\u4ef6\u8fdb\u884c\u77e2\u91cf\u5730\u56fe\u7684\u7ed8\u5236<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/So____\/article\/details\/129717245\" target=\"_blank\" rel=\"noopener\">Autoware\u5b9e\u8f66\u6d4b\u8bd5\u8bb0\u5f55\uff08\u4e8c\uff09&#8211; \u5b9e\u8f66NDT\u5b9a\u4f4d<\/a><\/p>\n<p><a href=\"https:\/\/www.fosslinux.com\/49332\/top-cad-viewers-for-linux.htm\" target=\"_blank\" rel=\"noopener\">Top 6 CAD viewers for Linux<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>LIO-SAM\u5bf9\u8f93\u5165\u7684\u70b9\u4e91\/imu\u6570\u636e\u592a\u654f\u611f\uff0c\u9053\u8def\u8ddd\u79bb\u8fc7\u7a84\u8fc7\u5bbd\u90fd\u5bb9\u6613\u5efa\u56fe\u5931\u8d25\uff0c\u5728\u6ca1\u6709\u5efa\u7b51\u7269\u7684\u516c\u56ed\u57fa\u672c\u7528\u4e0d\u4e86\u3002\u56e0 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1368,1376,1346,1418,973],"tags":[884,1369,1377,1347,1421,967],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9561"}],"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=9561"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9561\/revisions"}],"predecessor-version":[{"id":10095,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/9561\/revisions\/10095"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=9561"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=9561"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=9561"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}