ros使用rplidar hector_mapping建地图
ros中建地图方式有两种:
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" alt="" />
首先1、首先下载hector_slam包到你工作空间的src下
命令:
cd ~/catkin/src
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
cd ..
catkin_make
在~/catkin_ws/src/hector_slam/hector_slam_launch/launch/新建一个demo.launch
<?xml version="1.0"?>
<launch>
<include file="$(find rplidar_ros)/launch/rplidar.launch"/>
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 10"/>
<!--<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>
修改~/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="/scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="base_link"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg base_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.9" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
</launch>
我用的是rplidar激光雷达,主要价格比较便宜
修改rplidar驱动文件
在rplidar_ros/src/node.cpp中找到
nh_private.param<std::string>("frame_id", frame_id, "laser_frame");
将其改成:
nh_private.param<std::string>("frame_id", frame_id, "laser");
编译后运行:
roslaunch hector_slam_launch demo.launch
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