使用sick picoscan150 2D 雷达配置cartographer进行建图导航

env

• ubuntu 2204
• ros-humble

build

colcon build --symlink --cmake-args -DCMAKE_BUILD_TYPE=Release -G Ninja

run lidar_driver

source install/setup.bash
ros2 launch sick_scan_xd sick_picoscan.launch.py hostname:=192.168.192.100 udp_receiver_ip:=192.168.192.110

run cartographer

source install/setup.bash
ros2 launch rmslaunch carto.launch.py

save map

ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename : '${HOME}/rmsros2/src/rmslaunch/map/cartographer_map.pbstream'}"
ros2 run nav2_map_server map_saver_cli -f ~/rmsros2/src/rmslaunch/map/map

strat navigation

ros2 launch rmslaunch nav.launch.py

show transferPose

ros2 run rmslaunch cartoPose

NOTES

• 修改雷达驱动程序，发布laser_link2cloud_frame的tf，因为原始参数发布map2world，与建图导航冲突
• 转化/cloud_all_fields_fullframe到/scan，cartographer订阅消息类型为LaserScan的/scan，而cloud_all_fields_fullframe是pointclou2类型
• 由于cartographer使用要求imu的frame和tracing_frame的frame一致，所以将/sick_scansegment_xd/imu重新在base_link发布，并重映射为/imu

使用

• 首先启动cartographer构建地图，构图结束后保存地图，关闭进程（不然会和导航冲突）
  • ros2 launch rmslaunch carto.launch.py
• 启动navgation2
  • ros2 launch rmslaunch nav.launch.py
• 定点导航
  • 点击Rviz2 上边菜单栏里的2D Goal Pose ，设置机器人的导航目标点，千万不要点2D Pose Estimate，这个是设置初始位姿的
  • 获得速度指令
    • /cmd_vel发布速度指令的话题，其消息接口类型为geometry_msgs::msg::Twist
    • 示例代码

      #include <rclcpp/rclcpp.hpp>
      #include <geometry_msgs/msg/twist.hpp>
      #include <cstring>
    
      class CmdVelSubscriber : public rclcpp::Node
      {
      public:
      CmdVelSubscriber()
      : Node("cmd_vel_subscriber")
      {
        // 创建一个订阅者，订阅/cmd_vel,当这个话题被发布的时候调用topic_callback回调函数`
      subscription_ = this->create_subscription<geometry_msgs::msg::Twist>(
      "/cmd_vel", 10, std::bind(&CmdVelSubscriber::topic_callback, this, std::placeholders::_1)); 
      }
      private:
      void topic_callback(const geometry_msgs::msg::Twist::SharedPtr msg) const
      {
       // 这样子就拿到了速度指令并存放在 vx vy vz这个三个变量里面
       float vx = msg->linear.x;
       float vy = msg->linear.y;
       float vz = msg->linear.z;
       rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subscription_;
      }
      };