这里放了一个小强机器人的bag和我自己的bag包，以供大家测试。 链接：https://pan.baidu.com/s/1GF5FNFIKiRV3wbmBH3HwWQ 提取码：668d 前提： 1.需要三维激光启动节点，发布/points2（后面需要remap）; 2.需要IMU发布imu 的相关消息 ，发布/imu（这里是我自己写的）。 注意3D需要rosbag record 记录上面两个消息，话题名自己根据自己修改，也可以 -a，记录所有的topic。
rosbag record /imu /rslidar_points
其他步骤和2D差不多：下面我直接给文件内容，看了2D，3D应该好理解很多。 资源处奉献了我的2d和3d配置文件，只需要改下urdf模型和重映射话题，就可以使用在自己的机器人上。 本文主要是大致流程，具体细节在下一个博客进行讲解，有很多小的坑，但是都是致命的。。。。 配置launch文件：myself_rslidar_3d.launch
<launch>
<!-- <node pkg="tf" type="static_transform_publisher" name="base_laser_broadcaster" args="0 0 0 0 0 0 laserbase_footprint /base_footprint 20" /> -->
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/myself_robot.urdf" />
<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 myself_rslidar_3d.lua"
output="screen">
<!--remap from="/odom" to="/xqserial_server/Odom" /-->
<!--remap from="/imu" to="/imu_raw" / 如果发布的不是/imu 此处可以重映射为你的imu topic -->
<remap from="/points2" to="/rslidar_points" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/rslidar_3d.rviz" />
</launch>
配置urdf文件：myself_robot.urdf
<robot
name="myself_udrf">
<link name="base_link"/>
<link name="rslidar">
<visual>
<origin xyz="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.05" />
</geometry>
<material name="gray" />
</visual>
</link>
<joint name="laser2link" type="fixed">
<parent link="base_link" />
<child link="rslidar" />
<origin xyz="-0.25 0 0.4" rpy="0 0 0" />
</joint>
<link name="imu">
<visual>
<origin xyz="0 0 0" />
<geometry>
<cylinder length="0.01" radius="0.01" />
</geometry>
<material name="gray" />
</visual>
</link>
<joint name="imu2link" type="fixed">
<parent link="base_link" />
<child link="imu" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
</robot>
配置lua文件：my_self_3d.lua
-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
-- http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "imu",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 0,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 1, ##注释这里换成1，如果你只有一个雷达的话
lookup_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.,
}
TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1 #这里要修改为1
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7
POSE_GRAPH.optimization_problem.huber_scale = 5e2
POSE_GRAPH.optimize_every_n_nodes = 320
POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
POSE_GRAPH.constraint_builder.min_score = 0.62
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
return options
配置rviz文件：demo_3d.rviz这里使用的官方的
# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Submaps1
- /PointCloud23
- /PointCloud23/Autocompute Value Bounds1
Splitter Ratio: 0.600671
Tree Height: 817
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
horizontal_vlp16_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
vertical_vlp16_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
horizontal_vlp16_link:
{}
imu_link:
{}
vertical_vlp16_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
horizontal_vlp16_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
vertical_vlp16_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 7.6265
Min Value: 5.66667
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 20; 220; 20
Color Transformer: FlatColor
Decay Time: 0.1
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 200
Selectable: true
Size (Pixels): 3
Size (m): 0.03
Style: Flat Squares
Topic: /horizontal_laser_3d
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.6087
Min Value: 3.77875
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 240; 220; 20
Color Transformer: FlatColor
Decay Time: 0.1
Enabled: false
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 200
Selectable: true
Size (Pixels): 3
Size (m): 0.03
Style: Flat Squares
Topic: /vertical_laser_3d
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: Submaps
Enabled: true
Name: Submaps
Submap query service: /submap_query
Topic: /submap_list
Tracking frame: base_link
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 0; 255; 0
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 20
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Flat Squares
Topic: /scan_matched_points2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /trajectory_node_list
Name: Trajectories
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /landmark_poses_list
Name: Landmark Poses
Namespaces:
"": true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /constraint_list
Name: Constraints
Namespaces:
"": true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 100; 100; 100
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Name: Current View
Near Clip Distance: 0.01
Scale: 10
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz)
X: 0
Y: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1123
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1918
X: 0
Y: 24
用assets_writer_myself_3d.launch和assets_writer_myself_3d.lua 这里复制原始的assets_write一份，然后重命名，修改里面的urdf文件路径到自己的路径，然后就是一个lua文件，我没改多少，不过在后面出图会出多个视角的图，到时候不需要删了就行，其他都没啥的了。
<launch>
<node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
type="cartographer_assets_writer" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename assets_writer_myself_3d.lua
-urdf_filename $(find cartographer_ros)/urdf/myself_robot.urdf
-bag_filenames $(arg bag_filenames)
-pose_graph_filename $(arg pose_graph_filename)"
output="screen">
</node>
</launch>
VOXEL_SIZE = 5e-2
include "transform.lua"
options = {
tracking_frame = "imu", #这里的frame和建图的lua一致
pipeline = {
{
action = "min_max_range_filter",
min_range = 1.,
max_range = 20., #设置范围，这个注释记得删，不知道注释格式就用#开头了
},
{
action = "dump_num_points",
},
{
action = "fixed_ratio_sampler",
sampling_ratio = 0.01,
},
{
action = "write_ply",
filename = "points.ply"
},
-- Gray X-Rays. These only use geometry to color pixels.
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_yz_all",
transform = YZ_TRANSFORM,
},
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_xy_all",
transform = XY_TRANSFORM,
},
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_xz_all",
transform = XZ_TRANSFORM,
},
-- Now we recolor our points by frame and write another batch of X-Rays. It
-- is visible in them what was seen by the horizontal and the vertical
-- laser.
{
action = "color_points",
frame_id = "rslidar",
color = { 255., 0., 0. },
},
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_yz_all_color",
transform = YZ_TRANSFORM,
},
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_xy_all_color",
transform = XY_TRANSFORM,
},
{
action = "write_xray_image",
voxel_size = VOXEL_SIZE,
filename = "xray_xz_all_color",
transform = XZ_TRANSFORM,
},
}
}
return options
将pbstream文件转换成ply点云文件
#假设bag文件和pbstream文件保存在了home目录
roslaunch cartographer_ros assets_writer_myself_3d.launch bag_filenames:=${HOME}/2018-08-11-13-20-34.bag pose_graph_filename:=${HOME}/test_3d.pbfile
等待一段时间，处理完成后命令会自动退出，此时在bag文件旁边会生成一个.bag_points.ply后缀文件，这个就是点云文件。
使用pcl工具将ply文件转换成pcd文件
sudo apt-get install pcl_tools
#在小车主机上新开一个命令终端，假设ply文件在home目录
pcl_ply2pcd your.bag_points.ply test_3d.pcd
转换成功后就可以得到tes_3d.pcd文件，可以直接用pcl可视化工具查看
pcl_viewer test_3d.pcd
效果图如下： 参考：cartographer + velodyne64 + IMU建图_https://github.com/heatMa-CSDN博客_cartographer velodyne https://blog.csdn.net/u012686154/article/details/88342872
开心洋葱 , 版权所有丨如未注明 , 均为原创丨未经授权请勿修改 , 转载请注明利用Robosense 16线雷达和IMU在自己机器人上在线实时跑3D Cartographer（一）！
