蓝鲸ROS机器人论坛

Duke-Allen

@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？

Duke-Allen

是我IMU的数据有问题，己经解决了。

Duke-Allen

@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？

Duke-Allen

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：
2019-03-03 18-08-43屏幕截图.png
2019-03-03 18-08-52屏幕截图.png
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？

Duke-Allen

@xiaoqiang @weijiz
先运行的cartographer然后打开的数据包，终端显示这种错误
2019-02-22 11-16-04屏幕截图.png
rviz中
2019-02-22 11-21-46屏幕截图.png
我录的数据集是 2019-02-21 11-40-49屏幕截图.png
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？

Duke-Allen

@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

Duke-Allen

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？

Duke-Allen

@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？

Duke-Allen

@Duke-Allen

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