Package to run 3D SLAM with two 2d Lidars, pixhawk imu and the Cartographer package

3)roslaunch

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/whu/data/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=/home/whu/data/cartographerdata/cartographer_paper_deutsches_museum.bag

------------------------------------------- 20171022 Cartographer现已经支持Toyota HSR、TurtleBots、PR2、RevoLDS这几个机器人平台。

启动ROS

roscore

1. revo_lds 例子 roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=/home/whu/data/cartographer_paper_revo_lds.bag

2）hokuyo 新终端，启动hokuyo UTM-30LX ls -l /dev/ttyACM0 若显示为crw-rw----，则为其加权限使其显示为crw-rw-rw-

sudo chmod a+rw /dev/ttyACM0

roslaunch cartographer_ros demo_hokuyo.launch 3)2 hokuyo+imu

例子 roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/whu/data/cartographer_paper_deutsches_museum.bag

4）myself 1 hokuyo+imu

sudo chmod a+rw /dev/ttyACM0 /dev/ttyUSBO roslaunch cartographer_ros hokuyo_IMU.launch

4）myself hokuyo

sudo chmod a+rw /dev/ttyACM0 roslaunch lidar_slam demo_hokuyo.launch

------------------------------------------- 20171107 1)cmd 调试: /home/whu/slam_ws/install/lib/cartographer_ros/cartographer_node -configuration_directory /home/whu/slam_ws/install/share/lidar_slam/configuration_files -configuration_basename backpack_2d.lua echoes_1:=horizontal_laser_2d echoes_2:=vertical_laser_2d __name:=cartographer_node

/home/whu/slam_ws/install/lib/cartographer_ros/cartographer_node -configuration_directory /home/whu/slam_ws/install/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer_node

valgrind --tool=callgrind

1. install Driver

$ sudo apt-get install ros-VERSION-velodyne 2 connect to the LIDAR http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16 http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20HDL-32E

$sudo ifconfig eth0 192.168.1.100

$sudo route add 192.168.1.201 eth0 每次roslaunch都要重新设置,关闭无线网络

3 View Data

$roslaunch velodyne_pointcloud 32e_points.launch calibration:=/opt/ros/kinetic/share/velodyne_pointcloud/params/32db.yaml

$rosrun rviz rviz -f velodyne

线头的正对面是+X,上方是+Z，右手法则

-----------------------------------------20180426 VLP-16 3D data record

1. Setting->Eidt connections https://jingyan.baidu.com/article/86fae346d096093c49121a30.html http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16 //restart network： $ sudo /etc/init.d/networking restart //test $ ifconfig $ ping 192.168.1.201

2. 开启imu权限 sudo chmod 777 /dev/ttyUSB0

3. roslaunch lidar_slam record_vlp16_2_imu.launch