Ubuntu20.04下使用Catrography和richbeam2D雷达进行建图和定位（上）

本人目前大二，写这篇文章是为了怕我忘了，如果有错，大佬们请指出

1.环境

ros1,ubuntu20.04,编译好的catrographyer(注本文所使用雷达为richbeam2D雷达)

2.创建并初始化catkin工作空间（终端窗口1）

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​mkdir -p ~/catkin_ws/src​

​​​​​cd ~/catkin_ws/

catkin_make

source  /opt/ros/noetic/setup.bash

source ~/catkin_ws/devel/setup.bash

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3.配置雷达驱动程序（终端窗口2）

将雷达与电脑连接，我看的是雷达的readme，在浏览器里进入http://192.168.8.2，根据ReadMe设置ID

接着将雷达驱动程序（从雷达官网上下载下来的包）放在catkin_ws/src下

在catkin_ws下打开新的终端，输入

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catkin_make

source ~/catkin_ws/devel/setup.bash

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4.配置Cartographer（终端窗口3）

在catkin_ws/src下面创建文件夹名为your_cartographer_config，进入该文件创建your_cartographer_config.lua和your_cartographer_launch.launch

.launch文件内容

下文中的/scan要改为雷达发布数据的实际的topic名，在雷达的launch文件里面可以找到

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<launch>
    <!-- 设置不使用模拟时间 -->
    <param name="use_sim_time" value="false"/>
    
    <!-- 启动Cartographer节点 -->
    <node name="cartographer_node" pkg="cartographer_ros"
          type="cartographer_node" args="-configuration_directory $(find your_cartographer_config)/config
          -configuration_basename your_cartographer_config.lua"
          output="screen">
        <!-- 重映射内部使用的雷达数据topic -->
        <remap from="echoes" to="/scan"/>
    </node>
    
    <!-- 启动Cartographer的占用栅格地图节点 -->
    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
          type="cartographer_occupancy_grid_node" args="-resolution 0.05" output="screen"/>
</launch>
 

---

.lua文件

---

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "odom",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
}

TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 30.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(1.)

MAP_BUILDER.use_trajectory_builder_2d = true
MAP_BUILDER.num_background_threads = 7

return options
 

---

接下来回到catkin_ws打开终端输入

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export ROS_PACKAGE_PATH=/home/pixie/cartographer/src:$ROS_PACKAGE_PATH

（这里链接的是你编译cartographer的位置，让它能够定位cartographer_ros包）

catkin_make

source ~/catkin_ws/devel/setup.bash

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5.启动雷达和cartographer

在第一个终端输入

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roscore

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在第二个终端输入

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roslaunch lakibeam1 lakibeam1_scan_view_usb.launch

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因为我是用usb连接的，所以直接使用的这个launch文件

在第三个终端输入

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roslaunch /home/pixie/catkin_ws/src/your_cartographer_config/your_cartographer_launch.launch

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为了避免找不到我直接使用的路径

现在就可以看到rviz被启动了，接下来的步骤请看这篇的下集