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ROS与SLAM入门教程-激光雷达(EAI F4)hector_slam构建地图

ROS与SLAM入门教程-激光雷达(EAI F4)hector_slam构建地图

说明

  • 介绍Turtlebot搭载激光雷达(EAI F4)通过hector_slam构建地图

准备

  • 测试环境ubuntu14.04 + indigo
  • 已安装Turtlebot包，具体安装：deb包安装 | 源码安装
  • 依赖包：
    • Turtlebot应用包，https://github.com/ncnynl/turtlebot_apps.git
    • 激光雷达驱动，https://github.com/EAIBOT/flashgo.git

步骤

$ mkdir -p  ~/turtlebot_ws/src
$ cd   ~/turtlebot_ws/src

## turtlebot建图依赖包
$ git clone https://github.com/turtlebot/turtlebot_apps 

## hector_slam包，indigo桌面版已包含，如没，如下方式安装
$sudo apt-get install ros-indigo-hector-slam 

#编译
$ cd  ~/turtlebot_ws
$ catkin_make
  • 添加环境变量，在~/.bashrc最后添加一行：
$ source /home/ubu/turtlebot_ws/devel/setup.bash
  • 刷新配置
$ source ~/.bashrc
  • 或
$ rospack profile

制作雷达驱动启动文件

  • 复制lidar.launch到flashlidar-laser.launch，并增加TF定义
$ roscd turtlebot_navigation
$ mkdir -p laser/driver
$ sudo cp ~/turtlebot_ws/src/flashgo/launch/lidar.launch laser/driver/flashlidar_laser.launch
  • 打开flashgolidar_laser.launch，并修改
$ rosed turtlebot_navigation flashlidar_laser.launch
  • 检查frame_id是否指定为laser
<param name="frame_id" type="string" value="laser"/>
  • 查看serial_port是否指定正确端口，使用别名
  • 检查端口：<param name="serial_port" type="string" value="/dev/flashlidar"/>，设置好别名.
  • 增加TF：
<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>

  • 修改为args="0.0 0.0 0.18 0 0.0 0.0 为自己的实际安装位置。详情查看,static_transform_publisher部分

  • static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms

  • 这里我假设底盘的中心点为0，雷达放在机器人托盘中心位置，X为0，高度为18CM,Z为0.18m

  • TF的单位使用米的，测量单位是CM

  • 完整代码如下：

<launch>
  <node name="flashgo_node"          pkg="flashgo"  type="flashgo_node" output="screen">
    <param name="serial_port"         type="string" value="/dev/flashlidar"/>
    <param name="serial_baudrate"     type="int"    value="115200"/>
    <param name="frame_id"            type="string" value="laser"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
    <param name="ignore_array"        type="string" value="" />
    <param name="ignore_value"        type="double"  value="0" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>
</launch>

检查turtlebot_navigation包

  • 增加flashlidar_hector_mapping_demo.launch文件，用于启动hector
$ roscd  turtlebot_navigation
$ touch  launch/flashlidar_hector_mapping_demo.launch
$ rosed  launch/flashlidar_hector_mapping_demo.launch
  • 输入内容：
<launch>

  <!-- Define laser type-->
  <arg name="laser_type" default="flashlidar" />

  <!-- laser driver -->
  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />

  <!-- Gmapping -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/hector_mapping/$(arg laser_type)_hector_mapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>

  <!-- Move base -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


</launch>

  • 设置laser_type为flashlidar.

  • 增加flashlidar_hector_mapping.launch.xml文件，执行hector建图

$ roscd  turtlebot_navigation
$ touch  launch/includes/hector_mapping/flashlidar_hector_mapping.launch.xml
$ rosed  launch/includes/hector_mapping/flashlidar_hector_mapping.launch.xml
  • 输入内容：
<launch>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="scan_topic"  value="scan" />
<param name="base_frame"  value="base_footprint"/>
<param name="odom_frame"  value="odom"/>

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="map_multi_res_levels" value="2" />

<param name="map_pub_period" value="2" />
<param name="laser_min_dist" value="0.4" />
<param name="laser_max_dist" value="5.5" />
<param name="output_timing" value="false" />
<param name="pub_map_scanmatch_transform" value="true" />
<!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
</node>


</launch>

测试激光雷达hector构建地图

  • 上网本新开端口，打开roscore
$ roscore
  • 上网本新开端口，启动turtlebot
$ roslaunch turtlebot_bringup minimal.launch
  • 上网本新开端口，启动hector,用于构建地图
$ roslaunch turtlebot_navigation flashlidar_hector_mapping_demo.launch
  • 工作机或上网本新开端口，启动键盘操作Turtlebot
$ roslaunch turtlebot_teleop keyboard_teleop.launch
  • 工作机或上网本新开端口，启动rviz，实时查看建图情况
$ roslaunch turtlebot_rviz_launchers view_navigation.launch

构建地图结束保存地图

  • 上网本新开端口，建立目录，保存地图
$ mkdir -p ~/map
$ rosrun map_server map_saver -f ~/map/flashlidar_hector_mapping
$ ls ~/map   #查看内容，包含flashlidar_hector_mapping.pgm  flashlidar_hector_mapping.yaml
  • 查看地图，已经生成flashlidar_hector_mapping.pgm文件，可以用图像浏览器（gimp, eog, gthumb, 等等)打开查看。

利用地图进行AMCL

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