使用cartographer扩展舆图
阐明重要是使用cartographer在已有舆图的基础上扩展未知地区舆图，避免对已有舆图重复建图
1. 加载已有舆图
首先要在定位模式下加载已有舆图
启动launch文件
<launch>
<arg name = "configuration_directory" default = "/work/slam/script"/>
<arg name = "configuration_basename" default = "expand_map.lua"/>
<arg name = "load_state_filename" default = "/work/slam/maps/map.pbstream"/>
<arg name="load_frozen_state" default="true"/>
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(arg configuration_directory)
-configuration_basename $(arg configuration_basename)
-load_state_filename $(arg load_state_filename)
-load_frozen_state $(arg load_frozen_state)"
output="screen">
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d /work/slam/script/demo_2d.rviz" />
</launch>
2. 竣事当前轨迹
须要竣事定位产生的轨迹
source install_isolated/setup.bash
rosservice call /finish_trajectory 1
3. 开启新的轨迹
通过调用cartographer服务开启新的轨迹
rosservice call /start_trajectory "configuration_directory: '/work/slam/script'
configuration_basename: 'expand_map.lua'
use_initial_pose: true
initial_pose:
position: {x: -0.0551091, y: -0.939531, z: 0.0}
orientation: {x: 0.0, y: 0.0, z: -0.00436956, w: 0.999996}
relative_to_trajectory_id: 0"
4. 保存舆图
当对未知舆图完成扫描后保存舆图
#!/bin/bash
source install_isolated/setup.bash
# Call the ROS service and save the output to a variable
response=$(rosservice call /get_trajectory_states "{}")
# Extract the trajectory_id array from the response
trajectory_ids=$(echo "$response" | awk -F'trajectory_id: ' '{print $2}' | awk -F']' '{print $1}')
# Extract the last element from the trajectory_id array
last_element=$(echo "$trajectory_ids" | awk -F', ' '{print $NF}')
# Print the last element
echo "Last element of trajectory_id: $last_element"
rosservice call /finish_trajectory $last_element
rosservice call /write_state "{filename: '/work/slam/map/map.pbstream'}"
注意
1, 由于在定位阶段加载了lua参数，新建轨迹时如果参数不同，不会见效；
2, 在定位模式下，竣事当前轨迹时，会删除当前轨迹，导致在转换舆图时出现
F0317 08:40:01.665091 111541 proto_stream_deserializer.cc:70] Check failed: pose_graph_.pose_graph().trajectory_size() == all_trajectory_builder_options_.all_trajectory_builder_options() .options_with_sensor_ids_size() (2 vs. 1)
*** Check failure stack trace: ***
@ 0x7a369d2e90cdgoogle::LogMessage::Fail()
@ 0x7a369d2eaf33google::LogMessage::SendToLog()
@ 0x7a369d2e8c28google::LogMessage::Flush()
@ 0x7a369d2eb999google::LogMessageFatal::~LogMessageFatal()
@ 0x6503b3f07528(unknown)
@ 0x6503b3ef915a(unknown)
@ 0x6503b3ef7968(unknown)
@ 0x7a369ba21c87__libc_start_main
@ 0x6503b3ef901a(unknown)
因此须要在代码中对删除的操纵举行特殊处理
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