rplidar使用hector_slam的hector_mapping geotiff创建地图方法(2)
2016-09-02 15:24
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rplidar使用hector_slam的hector_mapping geotiff创建地图方法 （2）
根据上一编的那图步骤，改为使用以下的 launch文件，使用增加里程计的方式创建地图，那一种好本小二还在测试中..... 如有误或更好建议请不吝指点留言
方案二：加入odom_frame
slam_ho.launch:
<?xmlversion="1.0"?>
<launch>
<paramname="pub_map_odom_transform" value="true"/>
<param name="map_frame"value="map"/>
<param name="base_frame"value="base_frame"/>
<param name="odom_frame" value="odom"/>
<!--node pkg="hokuyo_node"type="hokuyo_node" name="hokuyo_node"/-->
<node pkg="tf"type="static_transform_publisher" name="map_2_odom"args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf"type="static_transform_publisher" name="odom_2_base_footprint"args="0 0 0 0 0 0 /odom /ba$
<node pkg="tf"type="static_transform_publisher"name="base_footprint_2_base_link" args="0 0 0 0 0 0 /bas$
<node pkg="tf"type="static_transform_publisher"name="base_link_2_base_stabilized_link" args="0 0 0 0 0 $
<node pkg="tf"type="static_transform_publisher"name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /ba$
<node pkg="tf"type="static_transform_publisher"name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_f$
<node pkg="tf"type="static_transform_publisher" name="base_2_nav_link"args="0 0 0 0 0 0 /base_frame /na$
<node pkg="rviz"type="rviz" name="rviz" args="-d $(findhector_slam_launch)/launch/rviz_cfg.rviz"/>
<include file="$(findhector_slam_launch)/launch/default_mapping.launch"/>
<include file="$(findhector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>
Default_mapping.launch:
<?xmlversion="1.0"?>
<launch>
<argname="tf_map_scanmatch_transform_frame_name"default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame"default="nav"/>
<argname="pub_map_odom_transform" default="true"/>
<argname="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic"default="scan"/>
<arg name="map_size"default="2048"/>
<node pkg="hector_mapping"type="hector_mapping" name="hector_mapping"output="screen">
<!-- Frame names -->
<param name="map_frame"value="map" />
<param name="base_frame"value="$(arg base_frame)" />
<param name="odom_frame" value="$(argodom_frame)" />
<!-- Tf use -->
<paramname="use_tf_scan_transformation" value="true"/>
<paramname="use_tf_pose_start_estimate" value="false"/>
<paramname="pub_map_odom_transform" value="$(argpub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution"value="0.050"/>
<param name="map_size"value="$(arg map_size)"/>
<param name="map_start_x"value="0.5"/>
<param name="map_start_y"value="0.5" />
<param name="map_multi_res_levels"value="2" />
<!-- Map update parameters -->
<paramname="update_factor_free" value="0.4"/>
<paramname="update_factor_occupied" value="0.9" />
<paramname="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh"value="0.06" />
<paramname="laser_z_min_value" value = "-1.0" />
<paramname="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<paramname="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size"value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic"value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing"value="false"/>
<param name="pub_drawings"value="true"/>
<paramname="pub_debug_output" value="true"/>
-->
<paramname="tf_map_scanmatch_transform_frame_name" value="$(argtf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf"type="static_transform_publisher"name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav100"/>-->
</launch>
Rviz_cfg.rviz:
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
-/LaserScan1
- /Map1
- /Image1
Splitter Ratio: 0.5
Tree Height: 463
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
VisualizationManager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/rgb/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.725398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.7854
Saved: ~
WindowGeometry:
Displays:
collapsed: false
Height: 744
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State:000000ff00000000fd0000000400000000000001250000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000001d1000000b5000000000000000000000001000001a30000025efc0200000004fb0000000a0049006d00610067006500000000280000025e0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d0065010000000000000515000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ea0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1301
X: 58
Y: 24
根据上一编的那图步骤，改为使用以下的 launch文件，使用增加里程计的方式创建地图，那一种好本小二还在测试中..... 如有误或更好建议请不吝指点留言
方案二：加入odom_frame
slam_ho.launch:
<?xmlversion="1.0"?>
<launch>
<paramname="pub_map_odom_transform" value="true"/>
<param name="map_frame"value="map"/>
<param name="base_frame"value="base_frame"/>
<param name="odom_frame" value="odom"/>
<!--node pkg="hokuyo_node"type="hokuyo_node" name="hokuyo_node"/-->
<node pkg="tf"type="static_transform_publisher" name="map_2_odom"args="0 0 0 0 0 0 /map /odom 100"/>
<node pkg="tf"type="static_transform_publisher" name="odom_2_base_footprint"args="0 0 0 0 0 0 /odom /ba$
<node pkg="tf"type="static_transform_publisher"name="base_footprint_2_base_link" args="0 0 0 0 0 0 /bas$
<node pkg="tf"type="static_transform_publisher"name="base_link_2_base_stabilized_link" args="0 0 0 0 0 $
<node pkg="tf"type="static_transform_publisher"name="base_stablized_2_base_frame" args="0 0 0 0 0 0 /ba$
<node pkg="tf"type="static_transform_publisher"name="base_frame_2_laser_link" args="0 0 0 0 0 0 /base_f$
<node pkg="tf"type="static_transform_publisher" name="base_2_nav_link"args="0 0 0 0 0 0 /base_frame /na$
<node pkg="rviz"type="rviz" name="rviz" args="-d $(findhector_slam_launch)/launch/rviz_cfg.rviz"/>
<include file="$(findhector_slam_launch)/launch/default_mapping.launch"/>
<include file="$(findhector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>
Default_mapping.launch:
<?xmlversion="1.0"?>
<launch>
<argname="tf_map_scanmatch_transform_frame_name"default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame"default="nav"/>
<argname="pub_map_odom_transform" default="true"/>
<argname="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic"default="scan"/>
<arg name="map_size"default="2048"/>
<node pkg="hector_mapping"type="hector_mapping" name="hector_mapping"output="screen">
<!-- Frame names -->
<param name="map_frame"value="map" />
<param name="base_frame"value="$(arg base_frame)" />
<param name="odom_frame" value="$(argodom_frame)" />
<!-- Tf use -->
<paramname="use_tf_scan_transformation" value="true"/>
<paramname="use_tf_pose_start_estimate" value="false"/>
<paramname="pub_map_odom_transform" value="$(argpub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution"value="0.050"/>
<param name="map_size"value="$(arg map_size)"/>
<param name="map_start_x"value="0.5"/>
<param name="map_start_y"value="0.5" />
<param name="map_multi_res_levels"value="2" />
<!-- Map update parameters -->
<paramname="update_factor_free" value="0.4"/>
<paramname="update_factor_occupied" value="0.9" />
<paramname="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh"value="0.06" />
<paramname="laser_z_min_value" value = "-1.0" />
<paramname="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<paramname="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size"value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic"value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing"value="false"/>
<param name="pub_drawings"value="true"/>
<paramname="pub_debug_output" value="true"/>
-->
<paramname="tf_map_scanmatch_transform_frame_name" value="$(argtf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf"type="static_transform_publisher"name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav100"/>-->
</launch>
Rviz_cfg.rviz:
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
-/LaserScan1
- /Map1
- /Image1
Splitter Ratio: 0.5
Tree Height: 463
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
VisualizationManager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/rgb/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.725398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.7854
Saved: ~
WindowGeometry:
Displays:
collapsed: false
Height: 744
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State:000000ff00000000fd0000000400000000000001250000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000001d1000000b5000000000000000000000001000001a30000025efc0200000004fb0000000a0049006d00610067006500000000280000025e0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d0065010000000000000515000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003ea0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1301
X: 58
Y: 24
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