google cartographer slam功能包的构建和在

Cartographer 简介

github官方给出的介绍是这样的：
Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer's ROS integration.

Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具，并提供ROS接口。

安装构建

我使用的是ros-kinect版本 Ubuntu是16.04

1. 安装所需要的工具集等（我将基本上会用到的所有库都列出来了，实际上我自己在安装的时候有很多之前都已经安装过了，如果你的环境已经安装过了的可以直接略过）

sudo apt-get update
sudo apt-get install -y \
python-wstool \
python-rosdep \
ninja-build \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx \
ros-kinect-tf2-eigen \
libatlas-base-dev \
libsuitesparse-dev \
liblapack-dev

2. 初始化工作空间

mkdir google_ws
cd google_ws
wstool init src

3. 设置下载地址并下载源码
   注意：因为源地址的原因，需要我们在终端下配置一下代理才能正常下载，如果使用的是shadowsock，可以在终端输入

export ALL_PROXY=socks5://127.0.0.1:1080

如果是使用的其他代理工具，可以按照下列格式改成自己的配置以生效

export http_proxy="http://localhost:port"
export https_proxy="http://localhost:port"

没有代理的小伙伴，可以通过修改src/.rosinstall文件中的下载地址，将原来的地址更换为可以访问的ceres-solver的github地址，再使用命令下载就好了。

image.png

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src

4. 安装proto3

src/cartographer/scripts/install_proto3.sh

5. 安装deb依赖项
   注意：如果之前已经安装了ros的话，可以跳过下面的前两个命令。
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
6. 编译

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

下载和运行demo

此时只能使用代理配置之后才能下载官方demo了
下载2D demo

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

运行2D demo

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

下载3D demo

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag

运行3D demo

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag

应用功能包

1. 需要添加自己的launch文件，此处以rpidar为例（cartographer_demo_rplidar.launch），将该launch文件放到google_ws/src/cartographer_ros/cartographer_ros/launch路径下。

<launch>  
  <param name="/use_sim_time" value="true" />  
  <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node"
        args="-configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename rplidar.lua"  
        output="screen">  
    <remap from="scan" to="scan" />  
  </node>  
  <node name="rviz" pkg="rviz" type="rviz" required="true"  
        args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />  
</launch>

2. 配置参数，需要参考google_ws/src/cartographer_ros/cartographer_ros/configuration_files目录下的revo_lds.lua文件来配置自己需要的参数，此处以rplidar为例，rplidar.lua。添加或修改后需要重新编译才能生效。

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

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

options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "laser_link",
    published_frame = "laser_link",
    odom_frame = "odom",
    provide_odom_frame = true,
    use_odometry = 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,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65

return options

然后就可以通过我们的launch文件来使用cartographer功能包了。