ros2 -foxy安装cartographer建图定位-- 源码安装使用

foxy 的cartographer_ros 和dashing 的兼容

cd ~/xx__ws/src

安装源码

git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b foxy

git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b dashing

安装依赖

sudo apt update
sudo apt install -y \
clang \
cmake \
g++ \
git \
google-mock \
libceres-dev \
liblua5.3-dev \
libboost-all-dev \
libprotobuf-dev \
protobuf-compiler \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
libcairo2-dev \
libpcl-dev \
libsuitesparse-dev \
python3-sphinx \
lsb-release \
ninja-build \
stow

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 = "gyro_link",published_frame = "base_footprint",odom_frame = "odom",provide_odom_frame = true,publish_frame_projected_to_2d = false,-- publish_tracked_pose=true, --发布小车位置use_odometry = true,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
MAP_BUILDER.num_background_threads = 2
-- TRAJECTORY_BUILDER.pure_localization_trimmer.max_submaps_to_keep = 3
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 45
TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.max_range = 6.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = true --是否使用imu数据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.angular_search_window = math.rad(10.) --角度搜索框的大小
-- 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-1TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05  --运动滤波更新距离   // 如果移动距离过小, 或者时间过短, 不进行地图的更新
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.03)
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.num_threads = 1
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 20  --迭代次数POSE_GRAPH.optimization_problem.huber_scale = 1e2POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.constraint_builder.min_score = 0.50POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
POSE_GRAPH.optimize_every_n_nodes = 35return options

建图launch:

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directoryfrom launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSourcedef generate_launch_description():# 定位到功能包的地址pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')scan_dir = get_package_share_directory('rplidar_ros')scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径serial_dir = get_package_share_directory('serial_pkg')serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径remappings = [('/tf', 'tf'),('/tf_static', 'tf_static')]urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型#=====================运行节点需要的配置=======================================================================# 是否使用仿真时间，我们用gazebo，这里设置成trueuse_sim_time = LaunchConfiguration('use_sim_time', default='false')# 地图的分辨率resolution = LaunchConfiguration('resolution', default='0.01')# 地图的发布周期publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')# 配置文件夹路径configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )# 配置文件configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')start_robot_state_publisher_cmd = Node(  #发布小车TF信息package='robot_state_publisher',executable='robot_state_publisher',  remappings=remappings,arguments=[urdf])joint_state_publisher_node = Node(package='joint_state_publisher',executable='joint_state_publisher',  remappings=remappings,arguments=[urdf])serial_cmd = IncludeLaunchDescription(  #串口开启PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),launch_arguments={'namespace': '','use_namespace': 'False'}.items())scan_cmd = IncludeLaunchDescription(  #雷达开启PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),launch_arguments={'namespace': '','use_namespace': 'False'}.items())#=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================cartographer_node = Node(package='cartographer_ros',executable='cartographer_node',name='cartographer_node',output='screen',parameters=[{'use_sim_time': use_sim_time}],arguments=['-configuration_directory', configuration_directory,'-configuration_basename', configuration_basename])occupancy_grid_node = Node(package='cartographer_ros',executable='occupancy_grid_node',name='occupancy_grid_node',output='screen',parameters=[{'use_sim_time': use_sim_time}],arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])rviz_node = Node(package='rviz2',executable='rviz2',name='rviz2',# arguments=['-d', rviz_config_dir],parameters=[{'use_sim_time': use_sim_time}],output='screen')#===============================================定义启动文件========================================================ld = LaunchDescription()ld.add_action(serial_cmd)ld.add_action(scan_cmd)# Add the actions to launch all of the navigation nodesld.add_action(start_robot_state_publisher_cmd)ld.add_action(joint_state_publisher_node)  ld.add_action(cartographer_node)ld.add_action(occupancy_grid_node)# ld.add_action(rviz_node)  在虚拟机上面远程启动return ld

地图保存1:ros2 run nav2_map_server map_saver_cli -t map -f name //只是文件名 xx.yaml xx.pgm

地图保存2:

ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: 'path/cartorapher.pbstream'}" //绝对路径

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: '0'}" //结束轨迹

定位launch:

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directoryfrom launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSourcefrom nav2_common.launch import RewrittenYaml#定位 launchdef generate_launch_description():# 定位到功能包的地址pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')scan_dir = get_package_share_directory('rplidar_ros')scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径serial_dir = get_package_share_directory('serial_pkg')serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径remappings = [('/tf', 'tf'),('/tf_static', 'tf_static')]urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型#=====================运行节点需要的配置=======================================================================# 是否使用仿真时间，我们用gazebo，这里设置成trueuse_sim_time = LaunchConfiguration('use_sim_time', default='false')# 地图的分辨率resolution = LaunchConfiguration('resolution', default='0.01')# 地图的发布周期publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')# 配置文件夹路径configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )# 配置文件configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')autostart = LaunchConfiguration('autostart', default='True')#配置地图configuration_map = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.pbstream'))map_yaml_file = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.yaml'))#配置导航文件configuration_nav_params =  LaunchConfiguration('configuration_nav_params', default=os.path.join(pkg_share, 'params', 'careRobot_nav.yaml'))default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename', default=os.path.join(get_package_share_directory('nav2_bt_navigator'),'behavior_trees', 'navigate_w_replanning_and_recovery.xml'))map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local', default='True')namespace = LaunchConfiguration('namespace', default='')lifecycle_nodes = ['controller_server','planner_server','recoveries_server','bt_navigator','waypoint_follower']serial_cmd = IncludeLaunchDescription(  #串口开启PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),launch_arguments={'namespace': '','use_namespace': 'False'}.items())scan_cmd = IncludeLaunchDescription(  #雷达开启PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),launch_arguments={'namespace': '','use_namespace': 'False'}.items())#=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================start_robot_state_publisher_cmd = Node(  #发布小车TF信息package='robot_state_publisher',executable='robot_state_publisher',  remappings=remappings,arguments=[urdf])joint_state_publisher_node = Node(package='joint_state_publisher',executable='joint_state_publisher',  remappings=remappings,arguments=[urdf])cartographer_node = Node(package = 'cartographer_ros',executable = 'cartographer_node',name='cartographer_node',parameters = [{'use_sim_time': True}],arguments = ['-configuration_directory',configuration_directory,     #配置文件路径'-configuration_basename', configuration_basename,      #配置文件名'-load_state_filename', configuration_map               #pbstream地图],# remappings = [#     ('echoes', 'horizontal_laser_2d')],output = 'screen')occupancy_grid_node = Node(package='cartographer_ros',executable='occupancy_grid_node',name='occupancy_grid_node',output='screen',parameters=[{'use_sim_time': use_sim_time}],arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])rviz_node = Node(package='rviz2',executable='rviz2',name='rviz2',# arguments=['-d', rviz_config_dir],parameters=[{'use_sim_time': use_sim_time}],output='screen')param_substitutions = {'use_sim_time': use_sim_time,'default_bt_xml_filename': default_bt_xml_filename,'autostart': autostart,'map_subscribe_transient_local': map_subscribe_transient_local}configured_params = RewrittenYaml(source_file=configuration_nav_params,root_key=namespace,param_rewrites=param_substitutions,convert_types=True)nav2_controller_node= Node( #导航控制器package='nav2_controller',executable='controller_server',output='screen',parameters=[configured_params],remappings=remappings)nav2_planner_node=Node( #导航归化器package='nav2_planner',executable='planner_server',name='planner_server',output='screen',parameters=[configured_params],remappings=remappings)nav2_recoveries_node=Node( #导航恢复package='nav2_recoveries',executable='recoveries_server',name='recoveries_server',output='screen',parameters=[configured_params],remappings=remappings)nav2_bt_navigator_node=Node( #行为树package='nav2_bt_navigator',executable='bt_navigator',name='bt_navigator',output='screen',parameters=[configured_params],remappings=remappings)nav2_waypoint_follower_node=Node(#点跟随package='nav2_waypoint_follower',executable='waypoint_follower',name='waypoint_follower',output='screen',parameters=[configured_params],remappings=remappings)nav2_lifecycle_manager_node=Node( #生命周期package='nav2_lifecycle_manager',executable='lifecycle_manager',name='lifecycle_manager_navigation',output='screen',parameters=[{'use_sim_time': use_sim_time},{'autostart': autostart},{'node_names': lifecycle_nodes}])#===============================================定义启动文件========================================================ld = LaunchDescription()ld.add_action(serial_cmd)ld.add_action(scan_cmd)# Add the actions to launch all of the navigation nodesld.add_action(start_robot_state_publisher_cmd)ld.add_action(joint_state_publisher_node)  ld.add_action(cartographer_node)ld.add_action(occupancy_grid_node)ld.add_action(nav2_controller_node)ld.add_action(nav2_planner_node)ld.add_action(nav2_recoveries_node)ld.add_action(nav2_bt_navigator_node)ld.add_action(nav2_waypoint_follower_node)ld.add_action(nav2_lifecycle_manager_node)#ld.add_action(rviz_node)return ld

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