cartographer_vlp16-imu_config

vlp16 + imu(fsm-9)的3d建圖測試
總之 跟cartographer放在一起編譯

map

• 淡江大學
  

bagfile

2019-12-18-13-37-34.bag

編譯

$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash

demo

# 模擬online邊走邊建置地圖, 如果移動過快計算跟不上, 可能會建圖失敗
$ roslaunch cartographer_vlp16-imu_config demo_vlp16-imu.launch bag_filenames:=${HOME}/Downloads/2019-12-18-13-37-34.bag

offline

# 計算完當前數據才會跑下一筆資料
$ roslaunch cartographer_vlp16-imu_config offline_vlp16-imu.launch bag_filenames:=${HOME}/Downloads/2019-12-18-13-37-34.bag

跑完後會產生2019-12-18-13-37-34.bag.pbstream,用於後續產生點雲圖與2d地圖
也可以在程式執行中輸入以下命令,直接產生pbstream檔案

# Finish the first trajectory. No further data will be accepted on it.
$ rosservice call /finish_trajectory 0

# Ask Cartographer to serialize its current state.
# (press tab to quickly expand the parameter syntax)
$ rosservice call /write_state "{filename: '${HOME}/Downloads/2019-12-18-13-37-34.bag.pbstream', include_unfinished_submaps: 'true'}"

assets writer

$ roslaunch cartographer_vlp16-imu_config  assets_writer_vlp16-imu.launch \
 bag_filenames:=${HOME}/Downloads/2019-12-18-13-37-34.bag \
 pose_graph_filename:=${HOME}/Downloads/2019-12-18-13-37-34.bag.pbstream

執行完就會跑出ply與2d地圖

• 結果

其他

• 不建議使用Google的point_cloud_viewer,編譯複雜且不易使用
  • ply->CloudCompare
  • pcd->pcl_viewer
• 如果想使用point_cloud_viewer記得assets_writer_vlp16-imu.lua裡面action = "intensity_to_color"必須啟用
• point_cloud_viewer測試data
• 如果不想要在輸出的地圖顯示路徑,將assets_writer_vlp16-imu.lua裡面draw_trajectories = true,改為false
• 舊版本測試
  • 來源
  • bagfile
  • carographer30b9fcce34
  • cartographer_ros-user-ozgudum
  • 測試資料
• 其他測試bag
  • cartographer_kitti_config

參考

• Cartographer ROS Integration
• TurtleBot3 SLAM