ROS2机器人slam_toolbox建图零基础

# 启动RPLidar A1 ros2 launch rplidar_ros rplidar_a1_launch.py

# 在另一个终端检查激光数据 ros2 topic echo /scan --no-arr | head -5 #这一步有报错很正常，因为我们只看前5行的数据

四、创建SLAM启动文件

# 创建工作空间目录（如果还没有） mkdir -p ~/slam_ws/src cd ~/slam_ws/src

# 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