Noetic-cartographer跑自己的数据包----记录（脑子不好容易忘记）

根据官网的提示 和大佬：https://blog.csdn.net/qq_40216084/article/details/104599308?的文章
1.在/cartographer_ws/install_isolated/share/cartographer_ros/目录下
（1）在上面的目录下urdf中建立你自己的urdf文件my_robot_.urdf

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<!--加上上面这个之后 你必须用gedit 这个文件的名字 进行修改-->
<robot name="mini"><material name="orange"><color rgba="1.0 0.5 0.2 1" /></material><material name="gray"><color rgba="0.2 0.2 0.2 1" /></material><link name="imu"><visual><origin xyz="0 0 0" /><geometry><box size="0.06 0.04 0.02" /></geometry><material name="orange" /></visual></link><link name="lidar_mid"><visual><origin xyz="0 0 0" /><geometry><cylinder length="0.05" radius="0.03" /></geometry><material name="gray" /></visual></link><link name="base_link" /> <joint name="imu2lidar" type="fixed"><parent link="lidar_mid" /><child link="imu" /><origin xyz="0 0 0" /></joint><joint name="base_link2lidar" type="fixed"><parent link="base_link" /><child link="imu" /><origin xyz="0 0 0" /></joint></robot>

主要是声明坐标系以及自己的车的轮廓
（2）在configuration_files文件中建立mg_robot_config.lua

include "map_builder.lua"
include "trajectory_builder.lua"options = {map_builder = MAP_BUILDER,trajectory_builder = TRAJECTORY_BUILDER,map_frame = "map",tracking_frame = "imu",  #这里用到了imu,所以跟踪的是imu,如果只用雷达,把这个写lidar_midpublished_frame = "lidar_mid",odom_frame = "odom",provide_odom_frame = false,#我不用里程计publish_frame_projected_to_2d = false,use_pose_extrapolator = false,use_odometry = false,use_nav_sat = false,#不用GPSuse_landmarks = false,num_laser_scans = 1,#雷达个数num_multi_echo_laser_scans = 0,num_subdivisions_per_laser_scan = 1,#这个参数必须要填,>=1,博主目前也没搞明白.num_point_clouds = 0,#3d的话这里要改,2d填0lookup_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.num_accumulated_range_data = 1return options

注意：上面盖的注释删了 .lua脚本中的注释我不知道怎么写
（3）在launch文件夹中建立两个launch文件1）my_robot01.launch

<launch><param name="robot_description"textfile="$(find cartographer_ros)/urdf/my_robot_.urdf" />#这里是你第一步定义的urdf文件<node name="robot_state_publisher" pkg="robot_state_publisher"type="robot_state_publisher" /><node name="cartographer_node" pkg="cartographer_ros"type="cartographer_node" args="-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename mg_robot_config.lua"#这里是你刚才新建的lua文件(运行时删除)output="screen"><remap from="scan" to="/scan" /><!--这里是我的2d包里雷达话题/Scan到carto框架Scan的映射--><remap from="imu" to="/imu" /></node><node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

2）my_robot02.launch

<launch><param name="/use_sim_time" value="true" /><include file="$(find cartographer_ros)/launch/my_robot01.launch" />#这里是你刚才建立的launch文件<node name="rviz" pkg="rviz" type="rviz" required="true"args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /><node name="playbag" pkg="rosbag" type="play"args="--clock $(arg bag_filename)" />
</launch>

运行时要把这两个文件中的#的注释删除
2.刷新环境变量

cd ~/cartographer_ws
source install_isolated/setup.bash

下载2d数据我的自己的 网址提取码：6375
在w10中下载
拖到Ubuntu中的一个文件夹中
3.运行

roslaunch cartographer_ros my_robot02.launch bag_filename:=拖进数据的文件夹路径/2d.bag

4.差不多跑完之后保存地图
首先要安装map——server

sudo apt install ros-<ROS版本>-map-server

我是用的launch文件来接受地图的
F：

<launch><arg name="filename" value="$(find demo01)/map/nav" /><node name="map_save" pkg="map_server" type="map_saver" args="-f $(arg filename)" />
</launch>

读取save的地图

<launch><!-- 设置地图的配置文件 --><arg name="map" default="nav.yaml" /><!-- 运行地图服务器，并且加载设置的地图--><node name="map_server" pkg="map_server" type="map_server" args="$(find demo01)/map/$(arg map)"/>
</launch>

读出来的地图是