1 推荐编译环境

• ubuntu 18.04
• ROS Melodic
• vscode or Clion

3 运行相关命令

2d建图指令

roslaunch cartographer_ros lx_rs16_2d_outdoor.launch

保存2d轨迹,并生成ros格式的地图

./finish_slam_2d.sh

纯定位模式

roslaunch cartographer_ros lx_rs16_2d_outdoor_localization.launch

3d建图指令

roslaunch cartographer_ros lx_rs16_3d.launch

保存3d轨迹

./finish_slam_3d.sh

使用asset生成ros格式的2d栅格地图

roslaunch cartographer_ros assets_writer_2d.launch

使用asset生成3d点云地图

roslaunch cartographer_ros assets_writer_3d.launch

landmark使用示例

roslaunch cartographer_ros landmark_mir_100.launch

进行重定位

roslaunch cartographer_ros demo_backpack_2d_localization.launch load_state_filename:=/home/zhanglei/carto_ws/b0-2014-07-11-10-58-16/buildconstriant/2d-1.pbstream bag_filename:=/home/zhanglei/bagfiles/b0-2014-07-11-10-58-16.bag

将点云pcd 文件发布为 ROS：：PointCloud2 消息见

git clone https://github.com/hongyeah314/pcdtolaserscan.git

如果要将对应时间戳对应PCD激光帧

将 node.h 中 SaveRange 设置为 true