cartographer和eai的s4型号激光雷达实时建图配置

cartographer和eai的s4型激光雷达实时建图配置

这是一种没有其他传感器的激光雷达建图配置
.launch文件
大致解释每个节点
cartographer_node 每个节点launch都有，指向a1.lua文件。
playbag删除此节点，否则会报错
cartographer_occupancy_grid_node
robot_state_publisher

.lua文件
相关传感器的数量不能写错。如果你写错了建图，你就会失败，但通常是Fatal Error中提醒你，

include "map_builder.lua" include "trajectory_builder.lua"  options = {   map_builder = MAP_BUILDER,   trajectory_builder = TRAJECTORY_BUILDER,   map_frame = "map",   tracking_frame = "laser_frame",   published_frame = "laser_frame",   odom_frame = "odom",   provide_odom_frame = true,   publish_frame_projected_to_2d = false,   use_odometry = false,   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  TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35 TRAJECTORY_BUILDER_2D.min_range = 0.3 TRAJECTORY_BUILDER_2D.max_range = 8. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1. TRAJECTORY_BUILDER_2D.use_imu_data = false 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.translation_delta_cost_weight = 10. TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1  POSE_GRAPH.optimization_problem.huber_scale = 1e2 POSE_GRAPH.optimize_every_n_nodes = 35 POSE_GRAPH.constraint_builder.min_score = 0.65  return options 

最后跑 roslaunch cartographer_ros my_revo_lds.launch 就行了