安裝hector-slam需要ros系統,首先通過官方教程進行安裝,需要根據系統找好對應的ros系統版本,Ubuntu16.04對應Kinetic版本,安裝教程如下():
ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
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sudo apt-get update
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sudo apt-get install ros-kinetic-desktop-full
安裝完成ros之後開始安裝hector-slam:
首先創建工作目錄以及配置環境
- echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
- source ~/.bashrc
- mkdir -p catkin_ws/src
- cd catkin_ws
- catkin_make
- echo "source /home/robot/catkin_ws/devel/setup.bash" >> ~/.bashrc
下載安裝hector-slam
- cd src
- sudo apt install git
- git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
- cd ../
- catkin_make
編譯過程中報錯
c++: internal compiler error: Killed (program cc1plus)
是因爲系統內存不夠導致的,參考這篇文章
https://blog.csdn.net/me1171115772/article/details/105111299
執行完之後重新運行catkin_make
至此編譯完成
Hector-slam使用
hector-slam針對高頻率激光設備效果較好,低頻建圖基本不太準確。
hector-slam官方介紹有三種使用方式:
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Use in place of gmapping(通過gmapping發佈map到odom的tf變換)
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Use without odom frame(不使用odom里程計信息)
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Use without Broadcasting of transformations(不使用任何tf數據)
因爲我使用機器人錄製了一下廠房的數據包,其中包括了激光數據和odom數據,這裏暫時不使用odom(其實是沒看出來在哪裏使用/(ㄒoㄒ)/~~)。
數據包地址以及相關的launch文件:https://download.csdn.net/download/me1171115772/12271884
首先進入hector_slam的launch目錄下,查看一下launch文件:
- roscd hector_slam_launch/launch
默認的是使用tutorial.launch ,打開文件查看文件內容:
這裏開到它包含了mapping_default.launch文件,查看文件內容:
在這個文件裏面看到了base_frama | odom_frame | scan_topic 這幾個參數,首先base_frame不需要改,這個程序默認的,然後odom_frame也不需要改,程序會自己發佈,最後scan_topic根據自己的激光主題發佈,因爲這裏發佈的主題就是scan所以不做改動。
更改文件之後運行報錯,提示
這說明沒有laser scan 到base_frame的tf變換,添加下行到launch文件中,發佈一個靜態變換:
- <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_footprint /velodyne 100" />
這裏提示一下,laser scan對應的不應該是scan的主題,而是scan的frama_id,因爲我使用的是velodyne激光,所以這裏對應的改成/velodyne.
改完之後的兩個文件:
<?xml version="1.0"?>
<launch>
<arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>
<param name="/use_sim_time" value="true"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_footprint /velodyne 100" />
<!--node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 100" /-->
<node pkg="rosbag" type="play" name="bagplayer" args="--clock /home/robot/rosbag/whole-room_2020-02-27-11-31-12.bag"/>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/><include file="$(find hector_mapping)/launch/whole_room_mapping.launch"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
<arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
</include></launch>
hector_slam/hector_slam_launch/launch/whole_room.launch
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/><node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" /><!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/><!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" /><!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" /><!-- Advertising config -->
<param name="advertise_map_service" value="true"/><param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/><!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>"/home/robot/catkin_ws/src/hector_slam/hector_mapping/launch/whole_room_mapping.launch"
建圖結果:
節點之間的訂閱關係如下: