hokuyo+kinetic+gmapping 基于turtlebot 里程计建图
利用hokuyo UST 10lx 配合turtlebot提供的里程计建图
1 hokuyo 驱动安装（urg_node）
详情见https://blog.****.net/qq_32005213/article/details/79910943
2 turtlebot 驱动安装
详情见https://www.ncnynl.com/archives/201609/792.html
3 gmapping 包安装
github源码安装 https://github.com/ros-perception/slam_gmapping
4 transform 关系配置（特别重要）
注意：laser_scan 与 base_link 之间的关系需要是静态转换
base_link odometry 之间的关系是由turtlebot的驱动发布的
5 配置launch文件 运行各个节点，配置变量
| <launch> | |
| <!--gmapping | |
| <node pkg="gmapping" type="slam_gmapping" name="gmapping" args="scan"> | |
| <param name="use_siM_time" value="true"/> | |
| </node>/--> | |
| <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" args="scan" output="screen"> | |
| <param name="base_frame" value="base_link"/> | |
| <param name="odom_frame" value="odom"/> | |
| <param name="map_update_interval" value="5.0"/> | |
| <param name="maxUrange" value="6.0"/> | |
| <param name="maxRange" value="8.0"/> | |
| <param name="sigma" value="0.05"/> | |
| <param name="kernelSize" value="1"/> | |
| <param name="lstep" value="0.05"/> | |
| <param name="astep" value="0.05"/> | |
| <param name="iterations" value="5"/> | |
| <param name="lsigma" value="0.075"/> | |
| <param name="ogain" value="3.0"/> | |
| <param name="lskip" value="0"/> | |
| <param name="minimumScore" value="200"/> | |
| <param name="srr" value="0.01"/> | |
| <param name="srt" value="0.02"/> | |
| <param name="str" value="0.01"/> | |
| <param name="stt" value="0.02"/> | |
| <param name="linearUpdate" value="0.5"/> | |
| <param name="angularUpdate" value="0.436"/> | |
| <param name="temporalUpdate" value="-1.0"/> | |
| <param name="resampleThreshold" value="0.5"/> | |
| <param name="particles" value="80"/> | |
| <!-- | |
| <param name="xmin" value="-50.0"/> | |
| <param name="ymin" value="-50.0"/> | |
| <param name="xmax" value="50.0"/> | |
| <param name="ymax" value="50.0"/> | |
| make the starting size small for the benefit of the Android client's memory... | |
| --> | |
| <param name="xmin" value="-1.0"/> | |
| <param name="ymin" value="-1.0"/> | |
| <param name="xmax" value="1.0"/> | |
| <param name="ymax" value="1.0"/> | |
| <param name="delta" value="0.05"/> | |
| <param name="llsamplerange" value="0.01"/> | |
| <param name="llsamplestep" value="0.01"/> | |
| <param name="lasamplerange" value="0.005"/> | |
| <param name="lasamplestep" value="0.005"/> | |
| </node> | |
| <!--static transform/--> | |
| <node pkg="tf" type="static_transform_publisher" name="base2laser" args="0.28 0 0.16 0 0 0 base_link laser 100"/> | |
| <!--odometry/ | |
| <node pkg="odometry" type="odometry" name="odometry"/>--> | |
| <!--laser driver/--> | |
| <node pkg="urg_node" type="urg_node" name="urg_node" output="screen"> | |
| <param name="ip_address" value="192.168.0.10"/> | |
| <param name="frame_id" value="laser"/> | |
| </node> | |
| <!--rviz/--> | |
| <node pkg="rviz" type="rviz" name="rviz" output="screen"/> | |
| </launch> |
6 建图