亚博microros小车-原生ubuntu支持系列：18 Cartographer建图

bohu832025-02-01 8:36

Cartographer简介

Cartographer是Google开源的一个ROS系统支持的2D和3D SLAM（simultaneous localization and mapping）库。基于图优化（多线程后端优化、cere构建的problem优化）的方法建图算法。可以结合来自多个传感器（比如，LIDAR、IMU 和 摄像头）的数据，同步计算传感器的位置并绘制传感器周围的环境。

cartographer的源码主要包括三个部分：cartographer、cartographer_ros和ceres-solver（后端优化）。

cartographer采用的是主流的SLAM框架，也就是特征提取、闭环检测、后端优化的三段式。由一定数量的LaserScan组成一个submap子图，一系列的submap子图构成了全局地图。用LaserScan构建submap的短时间过程累计误差不大，但是用submap构建全局地图的长时间过程就会存在很大的累计误差，所以需要利用闭环检测来修正这些submap的位置，闭环检测的基本单元是submap，闭环检测采用scan_match策略。

cartographer的重点内容就是融合多传感器数据（odometry、IMU、LaserScan等）的submap子图创建以及用于闭环检测的scan_match策略的实现。

cartographer_ros是在ROS下面运行的，可以以ROS消息的方式接受各种传感器数据，在处理过后又以消息的形式publish出去，便于调试和可视化。

https://github.com/cartographer-project/cartographer

看完这些还是没啥概念，官方文档吧，

安装：

官网的源码安装比较麻烦。推荐apt直接安装

sudo apt install ros-humble-cartographer

sudo apt install ros-humble-cartographer-ros

安装完了查看下

bohu@bohu-TM1701:~$ ros2 pkg list | grep cartographer

cartographer_ros

cartographer_ros_msgs

官网接下来又到了启动launch脚本的时候了，对于这块还想了解的，推荐看看大佬的文章：

【10天速通Navigation2】(三) ：Cartographer建图算法配置：从仿真到实车，从原理到实现_cartographer navigation真实环境-CSDN博客

大佬的文章讲了很多知识点。

建图

1 启动小车代理，等小车连上

复制代码 
sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp4 --port 8090 -v4

2 启动小车处理底层数据程序

复制代码 
ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py
bash 复制代码 
bohu@bohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-31-17-14-56-902589-bohu-TM1701-375239
[INFO] [launch]: Default logging verbosity is set to INFO
---------------------robot_type = x3---------------------
[INFO] [complementary_filter_node-1]: process started with pid [375241]
[INFO] [ekf_node-2]: process started with pid [375243]
[INFO] [static_transform_publisher-3]: process started with pid [375245]
[INFO] [joint_state_publisher-4]: process started with pid [375247]
[INFO] [robot_state_publisher-5]: process started with pid [375249]
[INFO] [static_transform_publisher-6]: process started with pid [375251]
[static_transform_publisher-3] [WARN] [1738314897.159059362] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [WARN] [1738314897.165546370] []: Old-style arguments are deprecated; see --help for new-style arguments
[robot_state_publisher-5] [WARN] [1738314897.574904564] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-5] [INFO] [1738314897.575050398] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1738314897.575129250] [robot_state_publisher]: got segment imu_Link
[robot_state_publisher-5] [INFO] [1738314897.575148441] [robot_state_publisher]: got segment jq1_Link
[robot_state_publisher-5] [INFO] [1738314897.575162415] [robot_state_publisher]: got segment jq2_Link
[robot_state_publisher-5] [INFO] [1738314897.575176635] [robot_state_publisher]: got segment radar_Link
[robot_state_publisher-5] [INFO] [1738314897.575189851] [robot_state_publisher]: got segment yh_Link
[robot_state_publisher-5] [INFO] [1738314897.575203953] [robot_state_publisher]: got segment yq_Link
[robot_state_publisher-5] [INFO] [1738314897.575216727] [robot_state_publisher]: got segment zh_Link
[robot_state_publisher-5] [INFO] [1738314897.575231399] [robot_state_publisher]: got segment zq_Link
[joint_state_publisher-4] [INFO] [1738314897.812400004] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...

然后，启动rviz，可视化建图，终端输入，

复制代码 
ros2 launch yahboomcar_nav display_launch.py

此时还没运行建图节点，所以没有数据。接下来运行建图节点，终端输入，

复制代码 
ros2 launch yahboomcar_nav map_cartographer_launch.py

启动键盘控制

复制代码 
ros2 run yahboomcar_ctrl yahboom_keyboard

然后控制小车，缓慢的走完需要建图的区域

建图完毕后，输入以下指令保存地图，终端输入，

复制代码 
ros2 launch yahboomcar_nav save_map_launch.py
bash 复制代码 
bohu@bohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_nav save_map_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-31-17-45-15-428783-bohu-TM1701-377017
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_saver_cli-1]: process started with pid [377019]
[map_saver_cli-1] [INFO] [1738316715.838488933] [map_saver]: 
[map_saver_cli-1] 	map_saver lifecycle node launched. 
[map_saver_cli-1] 	Waiting on external lifecycle transitions to activate
[map_saver_cli-1] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_saver_cli-1] [INFO] [1738316715.838780993] [map_saver]: Creating
[map_saver_cli-1] [INFO] [1738316715.839511570] [map_saver]: Configuring
[map_saver_cli-1] [INFO] [1738316715.846012025] [map_saver]: Saving map from 'map' topic to '/home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map' file
[map_saver_cli-1] [WARN] [1738316715.846072515] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[map_saver_cli-1] [WARN] [1738316715.846095065] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[map_saver_cli-1] [WARN] [1738316715.865849280] [map_io]: Image format unspecified. Setting it to: pgm
[map_saver_cli-1] [INFO] [1738316715.865932329] [map_io]: Received a 208 X 213 map @ 0.05 m/pix
[map_saver_cli-1] [INFO] [1738316715.927583001] [map_io]: Writing map occupancy data to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.pgm
[map_saver_cli-1] [INFO] [1738316715.929668988] [map_io]: Writing map metadata to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.yaml
[map_saver_cli-1] [INFO] [1738316715.929823753] [map_io]: Map saved
[map_saver_cli-1] [INFO] [1738316715.929836633] [map_saver]: Map saved successfully
[map_saver_cli-1] [INFO] [1738316715.932021514] [map_saver]: Destroying
[INFO] [map_saver_cli-1]: process has finished cleanly [pid 377019]

会有两个文件生成，一个是yahboom_map.pgm，一个是yahboom_map.yaml，看下yaml的内容，

image: yahboom_map.pgm

mode: trinary

resolution: 0.05

origin: [-5.56, -1.67, 0]

negate: 0

occupied_thresh: 0.65

free_thresh: 0.25

  • image：表示地图的图片，也就是yahboom_map.pgm

  • mode：该属性可以是trinary、scale或者raw之一，取决于所选择的mode，trinary模式是默认模式

  • resolution：地图的分辨率， 米/像素

  • 地图左下角的 2D 位姿(x,y,yaw), 这里的yaw是逆时针方向旋转的（yaw=0 表示没有旋转）。目前系统中的很多部分会忽略yaw值。

  • negate：是否颠倒 白/黑 、自由/占用 的意义（阈值的解释不受影响）

  • occupied_thresh：占用概率大于这个阈值的的像素，会被认为是完全占用。

  • free_thresh：占用概率小于这个阈值的的像素，会被认为是完全自由。

节点通讯图

TF树

源码

src/yahboomcar_nav/launch/display_launch.py

python 复制代码 
from ament_index_python.packages import get_package_share_path

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration

from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue

def generate_launch_description():
    package_path = get_package_share_path('yahboomcar_nav')
    default_rviz_config_path = package_path / 'rviz/view.rviz'
    rviz_arg = DeclareLaunchArgument(name='rvizconfig', default_value=str(default_rviz_config_path),
                                     description='Absolute path to rviz config file')

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )

    return LaunchDescription([
        rviz_arg,
        rviz_node
    ])

src/yahboomcar_nav/launch/map_cartographer_launch.py

python 复制代码 
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node


def generate_launch_description():
    package_launch_path =os.path.join(get_package_share_directory('yahboomcar_nav'), 'launch')

    cartographer_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
        [package_launch_path, '/cartographer_launch.py'])
    )
    base_link_to_laser_tf_node = Node(
     package='tf2_ros',
     executable='static_transform_publisher',
     name='base_link_to_base_laser',
     arguments=['-0.0046412', '0' , '0.094079','0','0','0','base_link','laser_frame']
    ) 
    return LaunchDescription([cartographer_launch,base_link_to_laser_tf_node])

src/yahboomcar_nav/launch/cartographer_launch.py

python 复制代码 
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    package_path = get_package_share_directory('yahboomcar_nav')
    configuration_directory = LaunchConfiguration('configuration_directory', default=os.path.join(
                                                  package_path, 'params'))
    configuration_basename = LaunchConfiguration('configuration_basename', default='lds_2d.lua')

    resolution = LaunchConfiguration('resolution', default='0.05')
    publish_period_sec = LaunchConfiguration(
        'publish_period_sec', default='1.0')

    return LaunchDescription([
        DeclareLaunchArgument(
            'configuration_directory',
            default_value=configuration_directory,
            description='Full path to config file to load'),
        DeclareLaunchArgument(
            'configuration_basename',
            default_value=configuration_basename,
            description='Name of lua file for cartographer'),
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),

        Node(
            package='cartographer_ros',
            executable='cartographer_node',
            name='cartographer_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=['-configuration_directory', configuration_directory,
                       '-configuration_basename', configuration_basename],
            remappings=[('/odom','/odom')]
                       ),

        DeclareLaunchArgument(
            'resolution',
            default_value=resolution,
            description='Resolution of a grid cell in the published occupancy grid'),

        DeclareLaunchArgument(
            'publish_period_sec',
            default_value=publish_period_sec,
            description='OccupancyGrid publishing period'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [ThisLaunchFileDir(), '/occupancy_grid_launch.py']),
            launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution,
                              'publish_period_sec': publish_period_sec}.items(),
        ),
    ])

src/yahboomcar_nav/launch/occupancy_grid_launch.py

python 复制代码 
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    resolution = LaunchConfiguration('resolution', default='0.05')
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')

    return LaunchDescription([
        DeclareLaunchArgument(
            'resolution',
            default_value=resolution,
            description='Resolution of a grid cell in the published occupancy grid'),

        DeclareLaunchArgument(
            'publish_period_sec',
            default_value=publish_period_sec,
            description='OccupancyGrid publishing period'),

        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),

        Node(
            package='cartographer_ros',
            executable='cartographer_occupancy_grid_node',
            name='occupancy_grid_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec]),
    ])

cartographer_launch.py 里面调用了lds_2d.lua 脚本，里面很多参数

Lua 复制代码 
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_footprint",
  published_frame = "odom",--发布map到odom之间的位姿态
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_odometry = true,--使用里程计数据
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  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.,
}


MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.use_imu_data = false  --是否使用IMU数据
TRAJECTORY_BUILDER_2D.min_range = 0.10 --激光的最近有效距离
TRAJECTORY_BUILDER_2D.max_range = 3.5  --激光最远的有效距离
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.  --无效激光数据设置距离为该数值
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true --是否使用在线相关扫描匹配
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)  --运动敏感度

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

return options

以下参数来自大佬：【10天速通Navigation2】(三) ：Cartographer建图算法配置：从仿真到实车，从原理到实现_cartographer navigation真实环境-CSDN博客

options: 这是一个表（table），包含了Cartographer算法的各种配置选项。

  • map_builder: 指定用于构建地图的类。

  • trajectory_builder: 指定用于构建轨迹的类。

  • map_frame: 地图的坐标系。

    tracking_frame: 跟踪的坐标系，通常是机器人底盘的坐标系。

    published_frame: 发布的坐标系，通常是用于导航的坐标系。注意这里用于设置cartographer是否发布从tracking_frame到odom_frame之间的tf树

    odom_frame: 里程计坐标系。

    provide_odom_frame: 是否提供里程计坐标系。

    publish_frame_projected_to_2d: 是否将3D数据投影到2D进行发布。

    use_pose_extrapolator: 是否使用姿态外推器。

    ==use_odometry: 是否使用里程计数据。==通常我们需要引入odom或者IMU用于辅助定位,否则会出现偏移和无法闭环的问题(后面我们会讲到)

    use_nav_sat: 是否使用导航卫星数据。

    use_landmarks: 是否使用地标数据。

    num_laser_scans: 使用的激光扫描仪数量。

    num_multi_echo_laser_scans: 使用多回声激光扫描仪的数量。

    num_subdivisions_per_laser_scan: 每个激光扫描数据的细分数量。

    num_point_clouds: 使用的点云数据数量。

    lookup_transform_timeout_sec: 查找变换的超时时间。

    submap_publish_period_sec: 发布子地图的周期。

    pose_publish_period_sec: 发布姿态的周期。

    trajectory_publish_period_sec: 发布轨迹的周期。

    rangefinder_sampling_ratio: 激光采样比率。

    odometry_sampling_ratio: 里程计采样比率。

    fixed_frame_pose_sampling_ratio: 固定帧姿态采样比率。

    imu_sampling_ratio: IMU采样比率。

    landmarks_sampling_ratio: 地标采样比率。

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