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

1. <launch>
2.     <arg name = "configuration_directory" default = "/work/slam/script"/>
3.   <arg name = "configuration_basename" default = "expand_map.lua"/>
4.   <arg name = "load_state_filename" default = "/work/slam/maps/map.pbstream"/>
5.   <arg name="load_frozen_state" default="true"/>
7.   <node name="cartographer_node" pkg="cartographer_ros"
8.       type="cartographer_node" args="
9.           -configuration_directory $(arg configuration_directory)
10.           -configuration_basename $(arg configuration_basename)
11.           -load_state_filename $(arg load_state_filename)
12.           -load_frozen_state $(arg load_frozen_state)"
13.       output="screen">
14.   </node>
15.   <node name="rviz" pkg="rviz" type="rviz" required="true"  
16.         args="-d /work/slam/script/demo_2d.rviz" />
17.   </launch>

复制代码

2. 竣事当前轨迹

须要竣事定位产生的轨迹

1. source install_isolated/setup.bash
2. rosservice call /finish_trajectory 1

复制代码

3. 开启新的轨迹

通过调用cartographer服务开启新的轨迹

1. rosservice call /start_trajectory "configuration_directory: '/work/slam/script'
2. configuration_basename: 'expand_map.lua'
3. use_initial_pose: true     
4. initial_pose:
5.   position: {x: -0.0551091, y: -0.939531, z: 0.0}
6.   orientation: {x: 0.0, y: 0.0, z: -0.00436956, w: 0.999996}
7. relative_to_trajectory_id: 0"

复制代码

4. 保存舆图

当对未知舆图完成扫描后保存舆图

1. #!/bin/bash
2. source install_isolated/setup.bash
4. # Call the ROS service and save the output to a variable
5. response=$(rosservice call /get_trajectory_states "{}")
7. # Extract the trajectory_id array from the response
8. trajectory_ids=$(echo "$response" | awk -F'trajectory_id: ' '{print $2}' | awk -F']' '{print $1}')
10. # Extract the last element from the trajectory_id array
11. last_element=$(echo "$trajectory_ids" | awk -F', ' '{print $NF}')
13. # Print the last element
14. echo "Last element of trajectory_id: $last_element"
16. rosservice call /finish_trajectory $last_element
18. rosservice call /write_state "{filename: '/work/slam/map/map.pbstream'}"

复制代码

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

1. 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)
2. *** Check failure stack trace: ***
3.     @     0x7a369d2e90cd  google::LogMessage::Fail()
4.     @     0x7a369d2eaf33  google::LogMessage::SendToLog()
5.     @     0x7a369d2e8c28  google::LogMessage::Flush()
6.     @     0x7a369d2eb999  google::LogMessageFatal::~LogMessageFatal()
7.     @     0x6503b3f07528  (unknown)
8.     @     0x6503b3ef915a  (unknown)
9.     @     0x6503b3ef7968  (unknown)
10.     @     0x7a369ba21c87  __libc_start_main
11.     @     0x6503b3ef901a  (unknown)

复制代码

因此须要在代码中对删除的操纵举行特殊处理

免责声明：如果侵犯了您的权益，请联系站长，我们会及时删除侵权内容，谢谢合作！更多信息从访问主页：qidao123.com:ToB企服之家，中国第一个企服评测及商务社交产业平台。