Cartographer_ICRA仿真

使用步骤

1. 配置好cartographer carographer cartographer_ros cartographer_turtlebot ceres-solver.

2. 安装依赖项

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

3. 获取源码放到工作空间下

mkdir -p ~/catkin_ws/src/ && cd ~/catkin_ws/src/
sudo cp ~/Cartographer_ICAR/{turtlebot3,turtlebot3_msgs,turtlebot3_simulations,waterplus_map_tools} ~/catkin_ws/src/

4. 编译

cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

5. 使用说明

• 为了方便使用我把launch文件合成了shell脚本放在仓库目录的shell_carto文件夹内
• 另附Cartographer源码分析

操作方法

1. cartographer建图

打开仿真环境

cd shell_carto/
./gazebo_empty_start.sh

cartographer建图

./mapping_cartographer.sh

保存地图

mkdir ~/map
./savemap.sh

2. 利用 cartographer纯定位+movebase 进行定点导航

./gazebo_empty_start.sh
./carto_localization.sh

3. 基于2实现多点连续导航

利用Add Waypoint设置多个目标点

sudo cp waypoints.xml ~/waypoints.xml
./gazebo_empty_start.sh
./tools_carto_localization.sh

保存标注目标点信息到~/waypoints.xml,并依次发送move_base_msgs::MoveBaseGoal goal信息

./map_tools.sh