说明
主要是使用cartographer在已有地图的基础上扩展未知区域地图，避免对已有地图重复建图
1. 加载已有地图
首先要在定位模式下加载已有地图
启动launch文件
<launch><arg name = "configuration_directory" default = "/work/slam/script"/><arg name = "configuration_basename" default = "expand_map.lua"/><arg name = "load_state_filename" default = "/work/slam/maps/map.pbstream"/><arg name="load_frozen_state" default="true"/><node name="cartographer_node" pkg="cartographer_ros"type="cartographer_node" args="-configuration_directory $(arg configuration_directory)-configuration_basename $(arg configuration_basename)-load_state_filename $(arg load_state_filename)-load_frozen_state $(arg load_frozen_state)"output="screen"></node><node name="rviz" pkg="rviz" type="rviz" required="true" args="-d /work/slam/script/demo_2d.rviz" /></launch>
2. 结束当前轨迹
需要结束定位产生的轨迹
source install_isolated/setup.bash
rosservice call /finish_trajectory 1
3. 开启新的轨迹
通过调用cartographer服务开启新的轨迹
rosservice call /start_trajectory "configuration_directory: '/work/slam/script'
configuration_basename: 'expand_map.lua'
use_initial_pose: true
initial_pose:position: {x: -0.0551091, y: -0.939531, z: 0.0}orientation: {x: 0.0, y: 0.0, z: -0.00436956, w: 0.999996}
relative_to_trajectory_id: 0"
4. 保存地图
当对未知地图完成扫描后保存地图
#!/bin/bash
source install_isolated/setup.bash# Call the ROS service and save the output to a variable
response=$(rosservice call /get_trajectory_states "{}")# Extract the trajectory_id array from the response
trajectory_ids=$(echo "$response" | awk -F'trajectory_id: ' '{print $2}' | awk -F']' '{print $1}')# Extract the last element from the trajectory_id array
last_element=$(echo "$trajectory_ids" | awk -F', ' '{print $NF}')# Print the last element
echo "Last element of trajectory_id: $last_element"rosservice call /finish_trajectory $last_elementrosservice call /write_state "{filename: '/work/slam/map/map.pbstream'}"
注意
1, 由于在定位阶段加载了lua参数，新建轨迹时如果参数不同，不会生效；
2, 在定位模式下，结束当前轨迹时，会删除当前轨迹，导致在转换地图时出现
F0317 08:40:01.665091 111541 proto_stream_deserializer.cc:70] Check failed: pose_graph_.pose_graph().trajectory_size() == all_trajectory_builder_options_.all_trajectory_builder_options() .options_with_sensor_ids_size() (2 vs. 1)
*** Check failure stack trace: ***@ 0x7a369d2e90cd google::LogMessage::Fail()@ 0x7a369d2eaf33 google::LogMessage::SendToLog()@ 0x7a369d2e8c28 google::LogMessage::Flush()@ 0x7a369d2eb999 google::LogMessageFatal::~LogMessageFatal()@ 0x6503b3f07528 (unknown)@ 0x6503b3ef915a (unknown)@ 0x6503b3ef7968 (unknown)@ 0x7a369ba21c87 __libc_start_main@ 0x6503b3ef901a (unknown)
因此需要在代码中对删除的操作进行特别处理