利用SICK-TIM561-2050101激光雷达在ROS下做SLAM - Something TO DO

利用SICK-TIM561-2050101激光雷达在ROS下做SLAM

Something TO DO posted @ 2017年11月15日 08:24 in SLAM with tags slam sick tim561-2050101 , 7698 阅读

前面提醒:单位刚购买了仙知机器人的AGV,由于想单独使用激光雷达,又不想拆解机器人,所以采用网线与激光雷达通信。

下面开始正文

 

版本说明:

系统:Ubuntu16.04

ROS:kinetic

激光雷达:Sick TIM561-2050101

条件:

  1. 已经安装配置好ROS系统
  2. 创建好的工作空间

 

需要安装的包:

  1. hector_slam (http://wiki.ros.org/hector_slam)

命令(其他版本ROS只需要更改kinetic为其他版本即可):

Sudo apt-get install ros-kinetic-hector-slam

 

    2. 激光雷达ros驱动sick_tim

命令:

cd ~/catkin_ws/src

git clone https://github.com/uos/sick_tim.git

cd ~/catkin_ws/

catkin_make

 

激光雷达ros驱动说明:下载后的launch文件夹中有几个型号的雷达ros驱动,他们分别适配的激光雷达在wiki(http://wiki.ros.org/sick_tim)中有说明,可以在wiki中的2 supported scanner types中查阅,本文采用Sick TIM561-2050101,是和sick_tim551_2050001的ros驱动适配的,所以本文采用该驱动。

SLAM:

    1. 连接方式:默认采用USB连接,无需进行修改,我要采用网线连接,所以需要对sick_tim551_2050001.launch文件做相应的修改,launch文件中也有说明,

 <!-- Uncomment this to enable TCP instead of USB connection; 'hostname' is the host name 
	or IP address of the laser scanner In cases where a race condition exists and the computer
	boots up before the TIM is ready, increase 'timelimit.'>
         <param name="hostname" type="string" value="192.168.1.42" />
         <param name="port" type="string" value="2112" />
         <param name="timelimit" type="int" value="5" />
       -->

 

所以我们改为:

<!-- Uncomment this to enable TCP instead of USB connection; 'hostname' is the host name 
	or IP address of the laser scanner In cases where a race condition exists and the computer
	boots up before the TIM is ready, increase 'timelimit.'-->
         <param name="hostname" type="string" value="192.168.192.100" />
         <param name="port" type="string" value="2112" />
         <param name="timelimit" type="int" value="15" />

 

并且相应的修改hostname的取值value为激光雷达的IP地址,端口号如果需要根据需要修改,并且相应的增加连接创建等待时间为15秒。

    2. 测试雷达

在sick_tim/launch下创建view_sick.launch,并输入以下内容:

<!--
  Used for visualising sick in action.  
  
  It requires sick_tim551_2050001.launch.
 -->
<launch>
  <include file="$(find sick_tim)/launch/sick_tim551_2050001.launch" />

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find sick_tim)/rviz/sick.rviz"/>
</launch>

 

命令(编译及运行):

cd ~/catkin_ws/

catkin_make

roslaunch sick_tim view_sick.launch

 

    3. 创建地图

在sick_tim/launch下创建hector_mapping_demo.launch,并且输入以下内容:

<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<param name="map_multi_res_levels" value="2" />

<param name="map_pub_period" value="2" />
<param name="laser_min_dist" value="0.4" />
<param name="laser_max_dist" value="5.5" />
<param name="output_timing" value="false" />
<param name="pub_map_scanmatch_transform" value="true" />
<!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
<param name="scan_topic" value="scan"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/>
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
</launch>

 

命令(编译及运行,关闭上面测试雷达的窗口后进行):

cd ~/catkin_make
catkin_make
roslaunch sick_tim view_sick.launch
roslaunch sick_tim hector_mapping_demo.launch

 

建图完成后的整体效果,还是有一定的漂移,

以上是测试情况。

-------------------------------------------------------分割线-----------------------------------------------------------------------------------------------

查看hector slam的源代码后发现,在hector_slam/hector_mapping/include/hector_slam_lib/map/OccGridMapUtil.h文件中采用介绍Bilinear filtering的构图方法中

公式4,5,6对应的代码为:

// /*
    return Eigen::Vector3f(
      ((intensities[0] * xFacInv + intensities[1] * factors[0]) * (yFacInv)) +
      ((intensities[2] * xFacInv + intensities[3] * factors[0]) * (factors[1])),
      -((dx1 * xFacInv) + (dx2 * factors[0])),
      -((dy1 * yFacInv) + (dy2 * factors[1]))
    );//original code
   // */

而根据论文公式推导,代码应该是

 ///*
      return Eigen::Vector3f(
      ((intensities[0] * xFacInv + intensities[1] * factors[0]) * (yFacInv)) +
      ((intensities[2] * xFacInv + intensities[3] * factors[0]) * (factors[1])),
      -((dx1 * yFacInv) + (dx2 * factors[1])),
      -((dy1 * xFacInv) + (dy2 * factors[0]))
    );//modify according to the paper
    //*/

 

从理论上来说更改后的代码应该更符合Bilinear filtering的拟合理论,并且对应于原来的代码和修改后的代码分别做了以下测试,保证其他外部环境相同,查看不同代码所建地图的情况,从我建的地图来说,原来的代码相比于修改后的代码更容易发生漂移,如下图所示:

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