cartographer和eai的s4型激光雷达实时建图配置
这是一种没有其他传感器的激光雷达建图配置 .launch文件 大致解释每个节点 cartographer_node 每个节点launch都有，指向a1.lua文件。 playbag删除此节点，否则会报错 cartographer_occupancy_grid_node robot_state_publisher
<launch> <param name="robot_description" textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" /> <!--node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /--> <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename a1.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" /> <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.05" /> </launch> .lua文件 相关传感器的数量不能写错。如果你写错了建图，你就会失败，但通常是Fatal Error中提醒你，
include "map_builder.lua" include "trajectory_builder.lua" options = { map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "laser_frame", published_frame = "laser_frame", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, 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, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1., } 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 POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimize_every_n_nodes = 35 POSE_GRAPH.constraint_builder.min_score = 0.65 return options 最后跑 roslaunch cartographer_ros my_revo_lds.launch 就行了