hokuyo+kinetic+gmapping 基于turtle

利用hokuyo UST 10lx 配合turtlebot提供的里程计建图

1 hokuyo 驱动安装（urg_node）

    详情见https://blog.csdn.net/qq_32005213/article/details/79910943

2 turtlebot 驱动安装

   详情见https://www.ncnynl.com/archives/201609/792.html

3 gmapping 包安装

 github源码安装       https://github.com/ros-perception/slam_gmapping    

4 transform 关系配置（特别重要）

注意：laser_scan 与 base_link 之间的关系需要是静态转换

image

base_link odometry 之间的关系是由turtlebot的驱动发布的

image

5 配置launch文件 运行各个节点，配置变量

<launch>
    <!--gmapping
    <node pkg="gmapping" type="slam_gmapping" name="gmapping" args="scan">
          <param name="use_siM_time" value="true"/>
    </node>/-->
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" args="scan" output="screen">
    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="200"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="80"/>
  <!--
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
  make the starting size small for the benefit of the Android client's memory...
  -->
    <param name="xmin" value="-1.0"/>
    <param name="ymin" value="-1.0"/>
    <param name="xmax" value="1.0"/>
    <param name="ymax" value="1.0"/>

    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>
     

    <!--static transform/-->
    <node pkg="tf" type="static_transform_publisher" name="base2laser" args="0.28 0 0.16 0 0 0 base_link laser 500"/>
    

    <!--odometry/-->
    <node pkg="odometry" type="odometry" name="odometry"/>
    
    <!--laser driver/-->
    <node pkg="urg_node" type="urg_node" name="urg_node" output="screen">
          <param name="ip_address" value="192.168.0.10"/>
          <param name="frame_id" value="laser"/>
    </node>
    
    <!--rviz/-->
    <node pkg="rviz" type="rviz" name="rviz" output="screen"/>

</launch>

6 建图

image.png