《ROS应用技术》课件-19.手持雷达建图

ROS应用开发技术手持雷达建图目录CONTENTS01雷达建图目录CONTENTS准备工作雷达建图功能包创建功能包下载文件介绍sudoaptinstallros-melodic-moveitros-melodic-moveit-visual-toolsros-melodic-kdl-*ros-melodic-joint-state-publisher-guiros-melodic-trac-ikliborocos-kdl-devros-melodic-teleop-twist-keyboardros-melodic-moveit-resourcesros-melodic-navigationros-melodic-gmappingros-melodic-hector-slamros-melodic-slam-kartoros-melodic-robot-state-publisherros-melodic-geographic-msgsros-melodic-libuvc-*ros-melodic-rtabmap-roslibavformat-devlibavcodec-devlibswresample-devlibswscale-devlibavutil-devlibsdl1.2-devros-melodic-pointcloud-to-laserscanros-melodic-mbf-msgsros-melodic-mbf-costmap-coreros-melodic-costmap-converterros-melodic-bflros-melodic-serialros-melodic-teleop-twist-joyros-melodic-laser-procros-melodic-rosserial-arduinoros-melodic-rosserial-pythonros-melodic-rosserial-serverros-melodic-rosserial-clientros-melodic-rosserial-msgsros-melodic-amclros-melodic-map-serverros-melodic-urdfros-melodic-xacroros-melodic-interactive-markersros-melodic-octomap*ros-melodic-joy*ros-melodic-dwa-local-plannerros-melodic-multirobot-map-mergepython-catkin-toolspython3-devpython3-catkin-pkg-modulespython3-numpypython3-yamlbuild-essentialros-melodic-imu-toolsros-melodic-cartographer*启动文件文件介绍roslaunchydlidar_ros_drivertest_gmapping.launch地图保存文件介绍用于编码occupancydata，即地图中的每个像素代表了一个空间点，这些点可能是被占用的（障碍物）、自由的（可通过）或未知的。yaml文件描述了地图的元数据，并命名了对应的PGM图片文件。pgm图片rosrunmap_servermap_saver-f~/ydlidar_ws/src/ydlidar_ros_driver-master/maps/map示例文件文件介绍image:/home/yahboom/ydlidar_ws/src/ydlidar_ros_driver-master/maps/map.pgmresolution:0.050000origin:[-10.000000,-10.000000,0.000000]negate:0occupied_thresh:0.65free_thresh:0.196参数解析文件介绍image：地图文件的路径，可以是绝对路径，也可以是相对路径resolution：地图的分辨率，米/像素origin：地图左下角的2D位姿(x,y,yaw),negate：是否颠倒白/黑、自由/占用的意义（阈值的解释不受影响）。occupied_thresh：占用概率大于这个阈值的的像素，会被认为是完全占用。free_thresh：占用概率小于这个阈值的的像素，会被