View source for Advantech Robotic Suite/Container/Utility ROS Container/ROS2-Cartographer-Example

1. Open a terminal, accessing dev-ros2-humble
<syntaxhighlight lang="bash">
docker exec -it dev-ros2-humble bash
</syntaxhighlight>
2. Download rosbag
<syntaxhighlight lang="bash">
curl -L https://iedgeblob.blob.core.windows.net/iedge-public/rosbag-dataset/rosbag2_2023_03_08-14_13_56.tar.gz -o rosbag2_2023_03_08-14_13_56.tar.gz
tar zxvf rosbag2_2023_03_08-14_13_56.tar.gz
</syntaxhighlight>
3. Play the rosbag, the parameter -l represents looping playback
<syntaxhighlight lang="bash">
ros2 bag play rosbag2_2023_03_08-14_13_56/ -l
</syntaxhighlight>
4. Open a new terminal, accessing util-ros2-humble
<syntaxhighlight lang="bash">
docker exec -it util-ros2-humble bash
</syntaxhighlight>
5. Check whether the lidar and image topics exist
<syntaxhighlight lang="bash">
ros2 topic list
</syntaxhighlight>
[[File:ROS2-Cartographer-Example1.png|none|ROS2-Cartographer-Example1]]
6. Add "cartographer.launch.py"
<syntaxhighlight lang="bash">
cd /opt/ros/humble/share/cartographer_ros/launch
vim cartographer.launch.py
</syntaxhighlight>

<syntaxhighlight lang="bash">
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    cartographer_prefix = get_package_share_directory('cartographer_ros')
    cartographer_config_dir = LaunchConfiguration(
        'cartographer_config_dir',
        default=os.path.join(cartographer_prefix, 'configuration_files')
    )
    configuration_basename = LaunchConfiguration(
        'configuration_basename',
        default='adv_lds_2d.lua'
    )

    resolution = LaunchConfiguration('resolution', default='0.05')
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')

    rviz_config_dir = os.path.join(cartographer_prefix, 'rviz', 'cartographer.rviz')

    return LaunchDescription([
        DeclareLaunchArgument(
            'cartographer_config_dir',
            default_value=cartographer_config_dir,
            description='Full path to config file to load'
        ),
        DeclareLaunchArgument(
            'configuration_basename',
            default_value=configuration_basename,
            description='Name of lua file for cartographer'
        ),
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'
        ),

        # Cartographer Node
        Node(
            package='cartographer_ros',
            executable='cartographer_node',
            name='cartographer_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=[
                '-configuration_directory', cartographer_config_dir,
                '-configuration_basename', configuration_basename
            ]
        ),

        # Cartographer Occupancy Grid Node
        Node(
            package='cartographer_ros',
            executable='cartographer_occupancy_grid_node',
            name='cartographer_occupancy_grid_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=[
                '-resolution', resolution,
                '-publish_period_sec', publish_period_sec
            ]
        ),

        # RViz2 Node
        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            output='screen',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}]
        ),

        DeclareLaunchArgument(
            'resolution',
            default_value=resolution,
            description='Resolution of a grid cell in the published occupancy grid'
        ),

        DeclareLaunchArgument(
            'publish_period_sec',
            default_value=publish_period_sec,
            description='OccupancyGrid publishing period'
        ),
    ])
</syntaxhighlight>

7. Add "adv_lds_2d.lua"
<syntaxhighlight lang="bash">
cd /opt/ros/humble/share/cartographer_ros/configuration_files
vim adv_lds_2d.lua
</syntaxhighlight>
<syntaxhighlight lang="bash">
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.12
TRAJECTORY_BUILDER_2D.max_range = 10
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

-- POSE_GRAPH.optimize_every_n_nodes = 0

return options
</syntaxhighlight>
8. Run cartographer node
<syntaxhighlight lang="bash">
ros2 launch cartographer_ros cartographer.launch.py
</syntaxhighlight>
9. Add map, trajectory, and lidar components in RViz2
[[File:ROS2-Cartographer-Example2.png|none|ROS2-Cartographer-Example2]]
[[File:ROS2-Cartographer-Example3.png|none|ROS2-Cartographer-Example3]]
[[File:ROS2-Cartographer-Example4.png|none|ROS2-Cartographer-Example4]]

10.Result
[[File:ROS2-Cartographer-Example-result.png|none|ROS2-Cartographer-Example-result]]