cartographer仿真建图

进入cartographer安装的工作空间，激活环境

cd ~/catkin_cartographer/
source install_isolated/setup.bash

创建文件cartographer_demo_rplidar.launch

cd ~/catkin_cartographer/src/cartographer_ros/cartographer_ros/launch
cp demo_revo_lds.launch cartographer_demo_rplidar.launch
gedit cartographer_demo_rplidar.launch

并修改为以下代码：

<launch>  
  
  <param name="/use_sim_time" value="true" />  

  <node name="cartographer_node" pkg="cartographer_ros"  
        type="cartographer_node" args="  
            -configuration_directory $(find cartographer_ros)/configuration_files  
            -configuration_basename rplidar.lua"  
        output="screen">  
    <remap from="scan" to="scan" />  
  </node>  

  <node name="rviz" pkg="rviz" type="rviz" required="true"  
        args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />  
</launch>

创建文件rplidar.lua

cd ~/catkin_cartographer/src/cartographer_ros/cartographer_ros/configuration_files
cp revo_lds.lua rplidar.lua
gedit rplidar.lua

修改字段如下：
tracking_frame = “laser_link”,
published_frame = “laser_link”,

配置文件修改后，需要重新编译cartographer

cd ~/catkin_cartographer
catkin_make_isolated --install --use-ninja

启动仿真平台

启动仿真平台

打开新的终端，启动Cartographer

cd ~/catkin_cartographer
source install_isolated/setup.bash
roslaunch cartographer_ros cartographer_demo_rplidar.launch

打开新的终端，启动键盘控制，控制机器人移动

键盘控制仿真机器人移动建图

打开新的终端，保存地图

建图完成，保存地图
停止地图构建

rosservice call /finish_trajectory 0

生成.pbstream文件，文件名及其路径可修改，以下代码是我个人目录

rosservice call /write_state /home/qiang/Documents/museum.pbstream false

使用catro提供文件，将.pbstream文件转为.yaml和.pgm文件

cd ~/catkin_cartographer
source install_isolated/setup.bash
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/qiang/Documents/museum -pbstream_filename=/home/qiang/Documents/map/museum.pbstream -resolution=0.05

执行完成后，将在相应目录下生成 .yaml和.pgm文件
参考文章