Cartographer源码阅读(1):程序入口
带着几个思考问题:
(1)IMU数据的使用,如何融合,Kalman滤波?
(2)图优化的具体实现,闭环检测的策略?
(3)3D激光的接入和闭环策略?
1. 安装Kdevelop工具:
http://blog.csdn.net/p942005405/article/details/75715288
http://blog.csdn.net/wan_exe/article/details/56275108
yhexie@ubuntu:~$ sudo apt-get install kdevelop
[sudo] password for yhexie:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools
kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration
libattica0. libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0
libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4
libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5
libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5
libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5
libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5
libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5
libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data
libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data
libkf5dbusaddons5 libkf5declarative-data libkf5declarative5
libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5
libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5
libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5
libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data
libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data
libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5
libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data
libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5
libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5
libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data
libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5
libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4
libknewstuff3- libknotifyconfig4 libkntlm4 libkparts4 libkpty4
libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route--
libntrack-qt4- libntrack0 libphonon4 libphonon4qt5- libplasma3
libpolkit-qt-- libpolkit-qt5-- libqca2 libqca2-plugins libqjson0
libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5
libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0
ntrack-module-libnl- oxygen-icon-theme oxygen5-icon-theme phonon
phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
Suggested packages:
docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html
| docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc
docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan
libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin
finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi
phonon-backend-mplayer phonon-backend-vlc gstreamer1.-plugins-ugly
phonon4qt5-backend-gstreamer perlsgml w3-recs opensp
The following NEW packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs
kdoctools kpackagelauncherqml kpackagetool5 kwayland-data
kwayland-integration libattica0. libdbusmenu-qt2 libdbusmenu-qt5
libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6
libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5
libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4
libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5
libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data
libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5
libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5
libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin
libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data
libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data
libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5
libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data
libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5
libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5
libkf5notifications-data libkf5notifications5 libkf5package-data
libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5
libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data
libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data
libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data
libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5
libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5
libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3- libknotifyconfig4
libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4
libkxmlrpcclient4 libnl-route-- libntrack-qt4- libntrack0 libphonon4
libphonon4qt5- libplasma3 libpolkit-qt-- libpolkit-qt5-- libqca2
libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4
libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1
libxcb-composite0 libxcb-damage0 ntrack-module-libnl- oxygen-icon-theme
oxygen5-icon-theme phonon phonon-backend-gstreamer
phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
upgraded, newly installed, to remove and not upgraded.
Need to get 82.5 MB of archives.
After this operation, MB of additional disk space will be used.
Do you want to continue? [Y/n] Y
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Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB]
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kdevelop
2. Cartographer_ROS不同节点的入口main()函数
这里作一点更正,首先Cartographer_ROS是一个Package,包含多个node,所以程序入口main函数有很多个。比如还有offline_node_main.cc,通过查看不同的launch文件可以看看究竟有多少个node。
这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。
(1) 主程序入口(node_main.cc)
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[]);
google::ParseCommandLineFlags(&argc, &argv, true); CHECK(!FLAGS_configuration_directory.empty())
<< "-configuration_directory is missing.";
CHECK(!FLAGS_configuration_basename.empty())
<< "-configuration_basename is missing."; ::ros::init(argc, argv, "cartographer_node");
::ros::start(); cartographer_ros::ScopedRosLogSink ros_log_sink;
cartographer_ros::Run();
::ros::shutdown();
}
main
(2) cartographer_ros::Run()是全局函数。
注意该方法中的::ros::spin();进入ROS系统内部循环,消息的请求响应,各种处理开始。
void cartographer_ros::Run() {
constexpr double kTfBufferCacheTimeInSeconds = 1e6;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer);
NodeOptions node_options;
TrajectoryOptions trajectory_options;
std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename); Node node(node_options, &tf_buffer);
if (!FLAGS_map_filename.empty())
{
node.LoadMap(FLAGS_map_filename);
} if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
} ::ros::spin(); node.FinishAllTrajectories();
node.RunFinalOptimization(); if (!FLAGS_save_map_filename.empty())
{
node.SerializeState(FLAGS_save_map_filename);
}
}
cartographer_ros::Run()
(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);
在cartographer_ros::Run()第15行-18行,执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。
Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
: node_options_(node_options),
map_builder_bridge_(node_options_, tf_buffer) {
carto::common::MutexLocker lock(&mutex_);
submap_list_publisher_ =
node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
kSubmapListTopic, kLatestOnlyPublisherQueueSize);
trajectory_node_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
constraint_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kConstraintListTopic, kLatestOnlyPublisherQueueSize);
service_servers_.push_back(node_handle_.advertiseService(
kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
service_servers_.push_back(node_handle_.advertiseService(
kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kWriteStateServiceName, &Node::HandleWriteState, this)); scan_matched_point_cloud_publisher_ =
node_handle_.advertise<sensor_msgs::PointCloud2>(
kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize); wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.submap_publish_period_sec),
&Node::PublishSubmapList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.pose_publish_period_sec),
&Node::PublishTrajectoryStates, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.trajectory_publish_period_sec),
&Node::PublishTrajectoryNodeList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(kConstraintPublishPeriodSec),
&Node::PublishConstraintList, this));
}
Node构造函数
if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
}
Node::StartTrajectoryWithDefaultTopics函数如下:
void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
{
carto::common::MutexLocker lock(&mutex_);
CHECK(ValidateTrajectoryOptions(options));
AddTrajectory(options, DefaultSensorTopics());//注意
}
DefaultSensorTopics()函数如下:
cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
{
cartographer_ros_msgs::SensorTopics topics;
topics.laser_scan_topic = kLaserScanTopic;
topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
topics.point_cloud2_topic = kPointCloud2Topic;
topics.imu_topic = kImuTopic;
topics.odometry_topic = kOdometryTopic;
return topics;
}
(3.1)查看Node::AddTrajectory的代码,特别注意map_builder_bridge_.AddTrajectory(x,x),需要重点阅读。
int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
AddExtrapolator(trajectory_id, options);
AddSensorSamplers(trajectory_id, options);
LaunchSubscribers(options, topics, trajectory_id);//消息订阅,重要
is_active_trajectory_[trajectory_id] = true;
subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
return trajectory_id;
}
其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。
std::unordered_set<std::string> Node::ComputeExpectedTopics( const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
std::unordered_set<std::string> expected_topics;
// Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds))
{
expected_topics.insert(topic);
}
// For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data()))
{
expected_topics.insert(topics.imu_topic);
}
// Odometry is optional.
if (options.use_odometry)
{
expected_topics.insert(topics.odometry_topic);
}
return expected_topics;
}
Node::ComputeExpectedTopics
(3.2) 消息订阅
void Node::LaunchSubscribers(const TrajectoryOptions& options,
const cartographer_ros_msgs::SensorTopics& topics,
const int trajectory_id) {
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::LaserScan>(
&Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
this),
topic});
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
&Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
&node_handle_, this),
topic});
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::PointCloud2>(
&Node::HandlePointCloud2Message, trajectory_id, topic,
&node_handle_, this),
topic});
} // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data())) {
std::string topic = topics.imu_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
} if (options.use_odometry) {
std::string topic = topics.odometry_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
}
}
Node::LaunchSubscribers
(4) 回到步骤(2),进行系统循环,订阅主题的消息处理开始。
阅读的代码是2017年12月27日GitHub下载的代码。
Cartographer中图优化存在2个部分:局部优化和全局优化
定义:扫描、子图
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