@Yangoogle 最近在学导航有点懵,不知道该怎么下手,请问有没有什么建议?
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Latest posts made by Duke-Allen
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RE: 谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图
@xiaoqiang
请问一下小强机器人的IMU数据经过处理了吗?我用的IMU是MPU6050,是否需要将三轴加速度、陀螺值进行处理再传入呢?还有我看cartographer官方指南中说使用IMU的话,tracking_frame必须与IMU的frame一致,laserbase_link与小强所用IMU的帧一致吗? -
使用速腾聚创16线雷达用cartographer 3D建图时出现问题
我使用IMU和一个16线雷达通过cartographer进行建图,但建图结果特别乱,像这样:
这是IMU和雷达的方向:
<robot name="myrobot_udrf"> <link name="base_link"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <box size="0.415 .4284 .15"/> </geometry> <material name=""> <color rgba="0.098039 0.098039 0.098039 1" /> </material> </visual> </link> <link name="base_footprint"/> <joint name="base_link_joint" type="fixed"> <parent link="base_footprint" /> <child link="base_link" /> <origin xyz="0 0 0.117635" /> </joint> <link name="right_front_wheel"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <cylinder length=".0356" radius="0.057635"/> </geometry> <material name=""> <color rgba="0.29412 0.29412 0.29412 1" /> </material> </visual> </link> <joint name="right_front_wheel_joint" type="fixed"> <origin xyz="0.205 -0.2142 -0.06" rpy="1.57075 0 0" /> <parent link="base_link" /> <child link="right_front_wheel" /> <axis xyz="0 0 1" /> </joint> <link name="left_front_wheel"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <cylinder length=".0356" radius="0.057635"/> </geometry> <material name="black"> <color rgba="0.29412 0.29412 0.29412 1" /> </material> </visual> </link> <joint name="left_front_wheel_joint" type="fixed"> <origin xyz="0.205 .2142 -0.06" rpy="1.57075 0 0" /> <parent link="base_link" /> <child link="left_front_wheel" /> <axis xyz="0 0 1" /> </joint> <link name="right_back_wheel"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <cylinder length=".0356" radius="0.057635"/> </geometry> <material name="black"> <color rgba="0.098039 0.098039 0.098039 1" /> </material> </visual> </link> <joint name="right_back_wheel_joint" type="fixed"> <origin xyz="-0.205 -0.2142 -0.06" rpy="1.57075 0 0" /> <parent link="base_link" /> <child link="right_back_wheel" /> <axis xyz="0 0 1" /> </joint> <link name="left_back_wheel"> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <cylinder length=".0356" radius="0.057635"/> </geometry> <material name="black"> <color rgba="0.098039 0.098039 0.098039 1" /> </material> </visual> </link> <joint name="left_back_wheel_joint" type="fixed"> <origin xyz="-0.205 0.2142 -0.06" rpy="1.57075 0 0" /> <parent link="base_link" /> <child link="left_back_wheel" /> <axis xyz="0 0 1" /> </joint> <link name="rslidar"> <visual> <origin xyz="0 0 0" /> <geometry> <cylinder length="0.0827" radius="0.0545" /> </geometry> <material name="blue"> <color rgba="0 0 0.8 1"/> </material> </visual> </link> <joint name="horizontal_laser_link_joint" type="fixed"> <parent link="top_link" /> <child link="rslidar" /> <origin xyz="-0.07 0 0.04135" rpy="0 0 0" /> </joint> <link name="imu"> <visual> <origin xyz="0 0 0" /> <geometry> <box size="0.021 .016 .04"/> </geometry> <material name="yellow"> <color rgba="1 1 0 1"/> </material> </visual> </link> <joint name="imu_link_joint" type="fixed"> <parent link="middle_link" /> <child link="imu" /> <origin xyz="0 0.023 0.02" rpy="0 0 3.14159" /> </joint> <link name="pillar_right_front"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.38" radius="0.02" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="pillar_right_front_joint" type="fixed"> <parent link="base_link" /> <child link="pillar_right_front" /> <origin xyz="0.15 -0.15 0.19" rpy="0 0 0" /> </joint> <link name="pillar_right_back"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.38" radius="0.02" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="pillar_right_back_joint" type="fixed"> <parent link="base_link" /> <child link="pillar_right_back" /> <origin xyz="-0.15 -0.15 0.19" rpy="0 0 0" /> </joint> <link name="pillar_left_front"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.38" radius="0.02" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="pillar_left_front_joint" type="fixed"> <parent link="base_link" /> <child link="pillar_left_front" /> <origin xyz="0.15 0.15 0.19" rpy="0 0 0" /> </joint> <link name="pillar_left_back"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.38" radius="0.02" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="pillar_left_back_joint" type="fixed"> <parent link="base_link" /> <child link="pillar_left_back" /> <origin xyz="-0.15 0.15 0.19" rpy="0 0 0" /> </joint> <link name="middle_link"> <visual> <origin xyz="0 0 0"/> <geometry> <box size="0.415 .4284 .001"/> </geometry> <material name=""> <color rgba="0.098039 0.098039 0.098039 1" /> </material> </visual> </link> <joint name="middle_link_joint" type="fixed"> <parent link="base_link" /> <child link="middle_link" /> <origin xyz="0 0 0.38" rpy="0 0 0" /> </joint> <link name="top_pillar_right_front"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.04465" radius="0.01" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="top_pillar_right_front_joint" type="fixed"> <parent link="middle_link" /> <child link="top_pillar_right_front" /> <origin xyz="-0.04 -0.1 0.022" rpy="0 0 0" /> </joint> <link name="top_pillar_right_back"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.04465" radius="0.01" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="top_pillar_right_back_joint" type="fixed"> <parent link="middle_link" /> <child link="top_pillar_right_back" /> <origin xyz="-0.1 -0.1 0.022" rpy="0 0 0" /> </joint> <link name="top_pillar_left_front"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.04465" radius="0.01" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="top_pillar_left_front_joint" type="fixed"> <parent link="middle_link" /> <child link="top_pillar_left_front" /> <origin xyz="-0.04 0.1 0.022" rpy="0 0 0" /> </joint> <link name="top_pillar_left_back"> <visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.04465" radius="0.01" /> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> </link> <joint name="top_pillar_left_back_joint" type="fixed"> <parent link="middle_link" /> <child link="top_pillar_left_back" /> <origin xyz="-0.1 0.1 0.022" rpy="0 0 0" /> </joint> <link name="top_link"> <visual> <origin xyz="0 0 0"/> <geometry> <box size="0.2142 .415 .001"/> </geometry> <material name=""> <color rgba="0.098039 0.098039 0.098039 1" /> </material> </visual> </link> <joint name="top_link_joint" type="fixed"> <parent link="middle_link" /> <child link="top_link" /> <origin xyz="-0.07 0 0.04465" rpy="0 0 0" /> </joint> </robot>
这是我的lua文件:
-- 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_footprint", odom_frame = "odom", provide_odom_frame = false, 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, 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 TRAJECTORY_BUILDER_3D.min_range = 0.2 TRAJECTORY_BUILDER_3D.max_range = 150. TRAJECTORY_BUILDER_2D.min_z = 0.1 TRAJECTORY_BUILDER_2D.max_z = 1.0 TRAJECTORY_BUILDER_3D.use_online_correlative_scan_matching = false MAP_BUILDER.use_trajectory_builder_3d = true MAP_BUILDER.num_background_threads = 7 POSE_GRAPH.optimization_problem.huber_scale = 5e2 POSE_GRAPH.optimization_problem.log_solver_summary = true POSE_GRAPH.optimize_every_n_nodes = 40 POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 20 POSE_GRAPH.constraint_builder.sampling_ratio = 0.03 POSE_GRAPH.constraint_builder.min_score = 0.62 POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66 return options
这个问题我一直不知道什么问题,还请大神指点一下这是什么原因,十分感谢。
还有一个问题,cartographer进行3D建图的话跟踪帧tracking_frame应该是和IMU的帧名一样吗? -
RE: 谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图
@xiaoqiang @weijiz
先运行的cartographer然后打开的数据包,终端显示这种错误
rviz中
我录的数据集是
但是rviz中没有显示建图
请问这是什么情况呢?该怎么解决呢? -
RE: 谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图
@weijiz @xiaoqiang 为什么打开rviz后显示"No tf data.Actual error: [map] does not exist",但我的机器人模型单独是可以发布tf的,而且机器人的模型也有错误,好几个link显示:No tranform from [] to [map]?请问应该怎么解决呢
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求助,怎么用速腾聚创的16线雷达进行cartographer建图
如果只用激光雷达的3D数据用cartographer进行2D建图,对launch和iua文件应该怎么修改呢?
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RE: 谷歌cartographer使用速腾聚创3d激光雷达转二维数据进行2d建图
@xiaoqiang您好,请问如果只用雷达数据来进行2D建图的话,cartographer_ros应该怎么配置呢?