ROS2 使用 slam_toolbox 进行激光雷达建图

# 创建功能包（如果需要）
ros2 pkg create my_slam --build-type ament_cmake --dependencies rclcpp slam_toolbox nav2_msgs

# 创建 launch 目录
mkdir -p ~/slam_ws/src/my_slam/launch

创建启动文件

nano ~/slam_ws/src/my_slam/launch/slam_with_rplidar.launch.py

添加以下代码：

import launch
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    # 定义启动参数
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    
    # RPLidar A1 节点
    rplidar_node = Node(
        package='rplidar_ros',
        executable='rplidar_node',
        name='rplidar_node',
        parameters=[{
            'serial_port': '/dev/rplidar',
            'serial_baudrate': 115200,
            'frame_id': 'laser',
            'inverted': False,
            'angle_compensate': True,
            'scan_mode': 'Standard'
        }],
        output='screen'
    )
    
    # slam_toolbox 节点
    slam_toolbox_node = Node(
        package='slam_toolbox',
        executable='async_slam_toolbox_node',
        name='slam_toolbox',
        output='screen',
        parameters=[{
            'use_sim_time': use_sim_time,
            'map_frame': 'map',
            'odom_frame': 'odom',
            'base_frame': 'base_link',
            'scan_topic': '/scan',
            'mode': 'mapping',  # 建图模式
            'resolution': 0.05,  # 地图分辨率
            'max_laser_range': 12.0  # 最大激光范围
        }]
    )
    
    # 静态 TF 发布 - 定义雷达位置
    static_tf_laser = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='static_transform_publisher_laser',
        arguments=['0', '0', '0.1', '0', '0', '0', 'base_link', 'laser']
    )
    
    # 静态 TF 发布 - 定义 base_link 到 odom 的初始位置
    static_tf_odom = Node(
        package='tf2_ros',
        executable='static_transform_publisher',
        name='static_transform_publisher_odom',
        arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link']
    )
    
    return launch.LaunchDescription([
        DeclareLaunchArgument('use_sim_time', default_value='false'),
        rplidar_node,
        static_tf_laser,
        static_tf_odom,
        slam_toolbox_node,
    ])

添加依赖

cd ~/slam_ws/src/my_slam
nano CMakeLists.txt

将内容修改为：

cmake_minimum_required(VERSION 3.8)
project(my_slam)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(slam_toolbox REQUIRED)
find_package(nav2_msgs REQUIRED)

# 添加这行：安装 launch 目录
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    # the following line skips the linter which checks for copyrights
    # comment the line when a copyright and license is added to all source files
    set(ament_cmake_copyright_FOUND TRUE)
    # the following line skips cpplint (only works in a git repo)
    # comment the line when this package is in a git repo and when
    # a copyright and license is added to all source files
    set(ament_cmake_cpplint_FOUND TRUE)
    ament_lint_auto_find_test_dependencies()
endif()

ament_package()

这一步主要添加了 launch 目录： install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

五、构建工作空间

cd ~/slam_ws
colcon build
source install/setup.bash

六、启动完整的 SLAM 系统

# 终端 1：启动 SLAM 和雷达
ros2 launch my_slam slam_with_rplidar.launch.py

# 终端 2：启动 RViz2
ros2 run rviz2 rviz2

七、配置 RViz2 显示建图过程

在 RViz2 中：

1. 修改 Fixed Frame: Global Option---->Fixed Frame:设置为 map

2. 添加显示项（点击 Add 按钮） LaserScan: Topic : /scan Size : 0.1 Color : 红色或绿色 Map: Topic : /map Color Scheme : costmap Draw Behind : √ TF: 显示坐标框架关系

3. 保存 RViz 配置 file---->Save Config As ----> ~/slam_ws/slam_config.rviz

八、开始建图

1. 缓慢移动雷达在环境中行走
2. 观察 RViz 中的建图过程
3. 确保覆盖所有区域

九、保存地图

建图完成后，保存地图：

ros2 run nav2_map_server map_saver_cli -f ~/my_first_map