实时Cartographer测试(1) - rplidar
1.rplidar实时测试
参考文献：http://www.cnblogs.com/liangyf0312/p/8028441.html
修改USB转串口权限
yhexie@ubuntu:~$ cd /etc/udev/rules.d
yhexie@ubuntu:/etc/udev/rules.d$ su
Password:
root@ubuntu:/etc/udev/rules.d# touch 70-ttyusb.rules
root@ubuntu:/etc/udev/rules.d# vi 70-ttyusb.rules KERNEL=="ttyUSB[0-9]*", MODE="0666" :wq
重新插入USB转串口设备，普通用户就有权限访问了。
yhexie@ubuntu:~$ cd /etc/udev/rules.d
yhexie@ubuntu:/etc/udev/rules.d$ su
Password:
root@ubuntu:/etc/udev/rules.d# vi 70-ttyusb.rules
root@ubuntu:/etc/udev/rules.d# ls -l /dev |grep ttyUSB
crw-rw---- 1 root dialout 188, 0 Dec 20 17:15 ttyUSB0
测试rplidar
yhexie@ubuntu:~$ roslaunch rplidar_ros view_rplidar.launch
运行cartographer，首先 编辑用于运行rplidar的配置文件：
（1）定义一个名为revo_lds_rplidar.lua的文件，在revo_lds_.lua基础上修改，
位于/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files文件夹下，修改了22和23行。
-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
-- http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License. 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 = true,
use_odometry = 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.,
imu_sampling_ratio = 1.,
} MAP_BUILDER.use_trajectory_builder_2d = true TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65 return options
（2）编辑一个launch文件demo_revo_lds_rplidar.launch，
位于~/catkin_ws/src/cartographer_ros/cartographer_ros/launch文件夹下，在demo_revo_lds.launch基础上修改，注意23和25行。内容如下：
<!--
Copyright 2016 The Cartographer Authors Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
--> <launch>
<param name="/use_sim_time" value="true" /> <node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename revo_lds_rplidar.lua"
output="screen">
<remap from="scan" to="scan" />
</node> <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" /> <node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /> </launch>
重新编译
yhexie@ubuntu:~$ cd ~/catkin_ws
yhexie@ubuntu:~/catkin_ws$ catkin_make_isolated --install --use-ninja
启动两个终端，分别运行rplidar的节点和cartographer_ros节点：
yhexie@ubuntu:~$ roslaunch rplidar_ros rplidar.launch
yhexie@ubuntu:~/catkin_ws$ roslaunch cartographer_ros demo_revo_lds_rplidar.launch
... logging to /home/yhexie/.ros/log/afd0089e-e5f5-11e7-8232-000c294d6cba/roslaunch-ubuntu-79069.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:42389/ SUMMARY
======== PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.12
* /use_sim_time: True NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[cartographer_node-1]: started with pid [79086]
process[cartographer_occupancy_grid_node-2]: started with pid [79087]
process[rviz-3]: started with pid [79089]
[ INFO] [1513823205.875377197]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/revo_lds_rplidar.lua' for 'revo_lds_rplidar.lua'.
[ INFO] [1513823205.875821687]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513823205.875920910]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513823205.876084677]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513823205.876204996]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513823205.876455970]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513823205.876583070]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513823205.876699456]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513823205.876786168]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513823205.876934620]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513823205.877021489]: I1220 18:26:45.000000 79086 configuration_file_resolver.cc:41] Found '/home/yhexie/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513823205.930127528]: I1220 18:26:45.000000 79086 submaps.cc:190] Added submap 1
[ INFO] [1513823205.937074526]: I1220 18:26:45.000000 79086 map_builder_bridge.cc:86] Added trajectory with ID '0'.
[ INFO] [1513823206.135690444]: I1220 18:26:46.000000 79086 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '636494200060795243'.
[ INFO] [1513823206.135868647]: I1220 18:26:46.000000 79086 local_trajectory_builder.cc:103] Extrapolator is still initializing.
[ INFO] [1513823212.788944211]: I1220 18:26:52.000000 79086 submaps.cc:190] Added submap 2
[ INFO] [1513823212.845112912]: I1220 18:26:52.000000 79146 constraint_builder.cc:261] 0 computations resulted in 0 additional constraints.
[ INFO] [1513823212.845218664]: I1220 18:26:52.000000 79146 constraint_builder.cc:263] Score histogram:
Count: 0
[ INFO] [1513823216.655158709]: I1220 18:26:56.000000 79086 submaps.cc:190] Added submap 3
[ INFO] [1513823216.772712639]: I1220 18:26:56.000000 79145 constraint_builder.cc:240] Node (0, 70) with 74 points on submap (0, 0) differs by translation 0.00 rotation 0.022 with score 82.0%.
[ INFO] [1513823216.815044344]: I1220 18:26:56.000000 79144 constraint_builder.cc:261] 1 computations resulted in 1 additional constraints.
[ INFO] [1513823216.815440872]: I1220 18:26:56.000000 79144 constraint_builder.cc:263] Score histogram:
Count: 1 Min: 0.820424 Max: 0.820424 Mean: 0.820424
[ INFO] [1513823217.018737093]: I1220 18:26:57.000000 79144 constraint_builder.cc:240] Node (0, 73) with 73 points on submap (0, 0) differs by translation 0.01 rotation 0.004 with score 78.0%.
[ INFO] [1513823217.136057306]: I1220 18:26:57.000000 79143 constraint_builder.cc:240] Node (0, 76) with 75 points on submap (0, 0) differs by translation 0.01 rotation 0.014 with score 74.8%.
[ INFO] [1513823217.570914822]: I1220 18:26:57.000000 79146 constraint_builder.cc:240] Node (0, 80) with 70 points on submap (0, 0) differs by translation 0.01 rotation 0.061 with score 76.6%.
[ INFO] [1513823217.998347377]: I1220 18:26:57.000000 79145 constraint_builder.cc:240] Node (0, 83) with 58 points on submap (0, 0) differs by translation 0.01 rotation 0.041 with score 74.6%.
[ INFO] [1513823218.215196244]: I1220 18:26:58.000000 79144 constraint_builder.cc:240] Node (0, 86) with 77 points on submap (0, 0) differs by translation 0.01 rotation 0.028 with score 65.3%.
[ INFO] [1513823220.105649835]: I1220 18:27:00.000000 79086 submaps.cc:190] Added submap 4
[ INFO] [1513823220.145745314]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 8) with 51 points on submap (0, 1) differs by translation 0.05 rotation 0.034 with score 69.7%.
[ INFO] [1513823220.164942725]: I1220 18:27:00.000000 79143 constraint_builder.cc:240] Node (0, 18) with 52 points on submap (0, 1) differs by translation 0.01 rotation 0.002 with score 65.2%.
[ INFO] [1513823220.182951937]: I1220 18:27:00.000000 79145 constraint_builder.cc:240] Node (0, 5) with 46 points on submap (0, 1) differs by translation 0.06 rotation 0.077 with score 66.0%.
[ INFO] [1513823220.185598029]: I1220 18:27:00.000000 79146 constraint_builder.cc:240] Node (0, 1) with 52 points on submap (0, 1) differs by translation 0.01 rotation 0.017 with score 66.4%.
[ INFO] [1513823220.186504925]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 15) with 57 points on submap (0, 1) differs by translation 0.12 rotation 0.214 with score 66.1%.
[ INFO] [1513823220.191803422]: I1220 18:27:00.000000 79146 constraint_builder.cc:240] Node (0, 28) with 34 points on submap (0, 1) differs by translation 0.04 rotation 0.141 with score 80.4%.
[ INFO] [1513823220.194966364]: I1220 18:27:00.000000 79144 constraint_builder.cc:240] Node (0, 31) with 36 points on submap (0, 1) differs by translation 0.06 rotation 0.015 with score 80.5%.
[ INFO] [1513823220.202343041]: I1220 18:27:00.000000 79143 constraint_builder.cc:240] Node (0, 21) with 56 points on submap (0, 1) differs by translation 0.04 rotation 0.082 with score 66.1%.
[ INFO] [1513823220.370008733]: I1220 18:27:00.000000 79145 constraint_builder.cc:261] 22 computations resulted in 13 additional constraints.
[ INFO] [1513823220.370352369]: I1220 18:27:00.000000 79145 constraint_builder.cc:263] Score histogram:
Count: 14 Min: 0.651554 Max: 0.820424 Mean: 0.722631
[0.651554, 0.668441) ######### Count: 6 (42.857143%) Total: 6 (42.857143%)
[0.668441, 0.685328) Count: 0 (0.000000%) Total: 6 (42.857143%)
[0.685328, 0.702215) # Count: 1 (7.142857%) Total: 7 (50.000000%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 7 (50.000000%)
[0.719102, 0.735989) Count: 0 (0.000000%) Total: 7 (50.000000%)
[0.735989, 0.752876) ### Count: 2 (14.285714%) Total: 9 (64.285713%)
[0.752876, 0.769763) # Count: 1 (7.142857%) Total: 10 (71.428574%)
[0.769763, 0.786650) # Count: 1 (7.142857%) Total: 11 (78.571426%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 11 (78.571426%)
[0.803537, 0.820424] #### Count: 3 (21.428572%) Total: 14 (100.000000%)
[ INFO] [1513823220.967738362]: I1220 18:27:00.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.68 Hz 5.35e-02 s +/- 3.63e-03 s (pulsed at 99.99% real time)
[ INFO] [1513823223.428345365]: I1220 18:27:03.000000 79086 submaps.cc:190] Added submap 5
[ INFO] [1513823223.542175654]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 33) with 44 points on submap (0, 2) differs by translation 0.28 rotation 0.330 with score 66.0%.
[ INFO] [1513823223.547989113]: I1220 18:27:03.000000 79143 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 2) differs by translation 0.29 rotation 0.032 with score 66.0%.
[ INFO] [1513823223.568248474]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 40) with 39 points on submap (0, 2) differs by translation 0.25 rotation 0.288 with score 65.7%.
[ INFO] [1513823223.589838926]: I1220 18:27:03.000000 79145 constraint_builder.cc:240] Node (0, 36) with 41 points on submap (0, 2) differs by translation 0.28 rotation 0.254 with score 65.6%.
[ INFO] [1513823223.661856121]: I1220 18:27:03.000000 79144 constraint_builder.cc:240] Node (0, 60) with 68 points on submap (0, 2) differs by translation 0.01 rotation 0.050 with score 68.0%.
[ INFO] [1513823223.676664700]: I1220 18:27:03.000000 79143 constraint_builder.cc:240] Node (0, 56) with 73 points on submap (0, 2) differs by translation 0.01 rotation 0.068 with score 69.5%.
[ INFO] [1513823223.687574159]: I1220 18:27:03.000000 79146 constraint_builder.cc:240] Node (0, 63) with 81 points on submap (0, 2) differs by translation 0.01 rotation 0.032 with score 67.0%.
[ INFO] [1513823223.693522454]: I1220 18:27:03.000000 79145 constraint_builder.cc:240] Node (0, 66) with 73 points on submap (0, 2) differs by translation 0.02 rotation 0.014 with score 65.9%.
[ INFO] [1513823224.252168065]: I1220 18:27:04.000000 79143 constraint_builder.cc:261] 44 computations resulted in 8 additional constraints.
[ INFO] [1513823224.255248632]: I1220 18:27:04.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 22 Min: 0.651554 Max: 0.820424 Mean: 0.702475
[0.651554, 0.668441) ########## Count: 11 (50.000000%) Total: 11 (50.000000%)
[0.668441, 0.685328) ## Count: 2 (9.090909%) Total: 13 (59.090908%)
[0.685328, 0.702215) ## Count: 2 (9.090909%) Total: 15 (68.181816%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 15 (68.181816%)
[0.719102, 0.735989) Count: 0 (0.000000%) Total: 15 (68.181816%)
[0.735989, 0.752876) ## Count: 2 (9.090909%) Total: 17 (77.272728%)
[0.752876, 0.769763) # Count: 1 (4.545455%) Total: 18 (81.818184%)
[0.769763, 0.786650) # Count: 1 (4.545455%) Total: 19 (86.363640%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 19 (86.363640%)
[0.803537, 0.820424] ### Count: 3 (13.636364%) Total: 22 (100.000000%)
[ INFO] [1513823233.188154702]: I1220 18:27:13.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 34.8%.
[ INFO] [1513823233.403385300]: I1220 18:27:13.000000 79086 submaps.cc:190] Added submap 6
[ INFO] [1513823233.534256504]: I1220 18:27:13.000000 79146 constraint_builder.cc:240] Node (0, 28) with 34 points on submap (0, 3) differs by translation 2.13 rotation 0.262 with score 66.8%.
[ INFO] [1513823233.582565994]: I1220 18:27:13.000000 79145 constraint_builder.cc:240] Node (0, 31) with 36 points on submap (0, 3) differs by translation 2.12 rotation 0.197 with score 67.2%.
[ INFO] [1513823233.931851031]: I1220 18:27:13.000000 79144 constraint_builder.cc:240] Node (0, 175) with 98 points on submap (0, 3) differs by translation 0.01 rotation 0.020 with score 73.1%.
[ INFO] [1513823234.668519180]: I1220 18:27:14.000000 79144 constraint_builder.cc:261] 65 computations resulted in 3 additional constraints.
[ INFO] [1513823234.671704114]: I1220 18:27:14.000000 79144 constraint_builder.cc:263] Score histogram:
Count: 25 Min: 0.651554 Max: 0.820424 Mean: 0.701011
[0.651554, 0.668441) ########## Count: 12 (48.000000%) Total: 12 (48.000000%)
[0.668441, 0.685328) ## Count: 3 (12.000000%) Total: 15 (60.000000%)
[0.685328, 0.702215) ## Count: 2 (8.000000%) Total: 17 (68.000000%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 17 (68.000000%)
[0.719102, 0.735989) # Count: 1 (4.000000%) Total: 18 (72.000000%)
[0.735989, 0.752876) ## Count: 2 (8.000000%) Total: 20 (80.000000%)
[0.752876, 0.769763) # Count: 1 (4.000000%) Total: 21 (84.000000%)
[0.769763, 0.786650) # Count: 1 (4.000000%) Total: 22 (88.000000%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 22 (88.000000%)
[0.803537, 0.820424] ## Count: 3 (12.000000%) Total: 25 (100.000000%)
[ INFO] [1513823236.023500896]: I1220 18:27:16.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.34 Hz 5.45e-02 s +/- 3.11e-03 s (pulsed at 100.00% real time)
[ INFO] [1513823240.084645100]: I1220 18:27:20.000000 79086 submaps.cc:190] Added submap 7
[ INFO] [1513823244.802785395]: I1220 18:27:24.000000 79086 submaps.cc:190] Added submap 8
[ INFO] [1513823248.009838012]: I1220 18:27:28.000000 79144 pose_graph.cc:341] Remaining work items in queue: 52
[ INFO] [1513823248.078476850]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 180) with 102 points on submap (0, 3) differs by translation 0.05 rotation 0.036 with score 65.6%.
[ INFO] [1513823248.251738643]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 200) with 101 points on submap (0, 3) differs by translation 0.04 rotation 0.015 with score 68.3%.
[ INFO] [1513823248.315485429]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 207) with 100 points on submap (0, 2) differs by translation 0.04 rotation 0.029 with score 67.6%.
[ INFO] [1513823248.321142578]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 205) with 102 points on submap (0, 3) differs by translation 0.05 rotation 0.019 with score 65.9%.
[ INFO] [1513823248.386302499]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 210) with 100 points on submap (0, 3) differs by translation 0.04 rotation 0.008 with score 65.5%.
[ INFO] [1513823248.435766870]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 214) with 98 points on submap (0, 3) differs by translation 0.06 rotation 0.026 with score 66.8%.
[ INFO] [1513823248.522084702]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 4) differs by translation 1.11 rotation 0.504 with score 67.2%.
[ INFO] [1513823248.909244439]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 130) with 103 points on submap (0, 4) differs by translation 0.02 rotation 0.032 with score 74.8%.
[ INFO] [1513823248.910668523]: I1220 18:27:28.000000 79145 constraint_builder.cc:240] Node (0, 133) with 100 points on submap (0, 4) differs by translation 0.02 rotation 0.024 with score 77.1%.
[ INFO] [1513823248.911165126]: I1220 18:27:28.000000 79144 constraint_builder.cc:240] Node (0, 126) with 102 points on submap (0, 4) differs by translation 0.01 rotation 0.031 with score 77.9%.
[ INFO] [1513823248.911776089]: I1220 18:27:28.000000 79146 constraint_builder.cc:240] Node (0, 123) with 102 points on submap (0, 4) differs by translation 0.01 rotation 0.018 with score 67.9%.
[ INFO] [1513823248.914864221]: I1220 18:27:28.000000 79143 constraint_builder.cc:240] Node (0, 136) with 105 points on submap (0, 4) differs by translation 0.01 rotation 0.019 with score 76.2%.
[ INFO] [1513823248.916887376]: I1220 18:27:28.000000 79143 constraint_builder.cc:261] 87 computations resulted in 12 additional constraints.
[ INFO] [1513823248.917120105]: I1220 18:27:28.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 37 Min: 0.651554 Max: 0.820424 Mean: 0.700866
[0.651554, 0.668441) ######### Count: 16 (43.243244%) Total: 16 (43.243244%)
[0.668441, 0.685328) #### Count: 7 (18.918919%) Total: 23 (62.162163%)
[0.685328, 0.702215) # Count: 2 (5.405406%) Total: 25 (67.567566%)
[0.702215, 0.719102) Count: 0 (0.000000%) Total: 25 (67.567566%)
[0.719102, 0.735989) # Count: 1 (2.702703%) Total: 26 (70.270271%)
[0.735989, 0.752876) ## Count: 3 (8.108109%) Total: 29 (78.378380%)
[0.752876, 0.769763) # Count: 2 (5.405406%) Total: 31 (83.783783%)
[0.769763, 0.786650) ## Count: 3 (8.108109%) Total: 34 (91.891891%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 34 (91.891891%)
[0.803537, 0.820424] ## Count: 3 (8.108109%) Total: 37 (100.000000%)
[ INFO] [1513823250.654150007]: I1220 18:27:30.000000 79086 submaps.cc:190] Added submap 9
[ INFO] [1513823251.027584690]: I1220 18:27:31.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.59 Hz 5.38e-02 s +/- 3.92e-03 s (pulsed at 100.00% real time)
[ INFO] [1513823259.155072551]: I1220 18:27:39.000000 79086 submaps.cc:190] Added submap 10
[ INFO] [1513823260.074468621]: I1220 18:27:40.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 32.8%.
[ INFO] [1513823263.538881770]: I1220 18:27:43.000000 79086 submaps.cc:190] Added submap 11
[ INFO] [1513823263.758903020]: I1220 18:27:43.000000 79143 pose_graph.cc:341] Remaining work items in queue: 100
[ INFO] [1513823263.783135570]: I1220 18:27:43.000000 79145 constraint_builder.cc:240] Node (0, 216) with 100 points on submap (0, 3) differs by translation 0.00 rotation 0.011 with score 72.9%.
[ INFO] [1513823263.795379578]: I1220 18:27:43.000000 79146 constraint_builder.cc:240] Node (0, 218) with 100 points on submap (0, 3) differs by translation 0.01 rotation 0.008 with score 70.6%.
[ INFO] [1513823263.827180123]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 220) with 101 points on submap (0, 3) differs by translation 0.00 rotation 0.020 with score 69.9%.
[ INFO] [1513823263.838558495]: I1220 18:27:43.000000 79143 constraint_builder.cc:240] Node (0, 222) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.011 with score 68.7%.
[ INFO] [1513823263.889018403]: I1220 18:27:43.000000 79145 constraint_builder.cc:240] Node (0, 224) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.018 with score 67.4%.
[ INFO] [1513823263.892540632]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 228) with 100 points on submap (0, 3) differs by translation 0.02 rotation 0.001 with score 68.6%.
[ INFO] [1513823263.894173786]: I1220 18:27:43.000000 79146 constraint_builder.cc:240] Node (0, 226) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.010 with score 70.1%.
[ INFO] [1513823263.942004901]: I1220 18:27:43.000000 79144 constraint_builder.cc:240] Node (0, 230) with 100 points on submap (0, 3) differs by translation 0.01 rotation 0.008 with score 71.5%.
[ INFO] [1513823264.021737045]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 232) with 104 points on submap (0, 3) differs by translation 0.02 rotation 0.004 with score 69.8%.
[ INFO] [1513823264.035452461]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 234) with 101 points on submap (0, 3) differs by translation 0.01 rotation 0.005 with score 66.6%.
[ INFO] [1513823264.044930311]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 236) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.005 with score 69.3%.
[ INFO] [1513823264.099527775]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 238) with 103 points on submap (0, 3) differs by translation 0.02 rotation 0.002 with score 66.6%.
[ INFO] [1513823264.150499180]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 242) with 100 points on submap (0, 3) differs by translation 0.03 rotation 0.005 with score 69.8%.
[ INFO] [1513823264.155979823]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 240) with 103 points on submap (0, 3) differs by translation 0.02 rotation 0.001 with score 67.6%.
[ INFO] [1513823264.196129646]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 244) with 100 points on submap (0, 3) differs by translation 0.02 rotation 0.012 with score 66.0%.
[ INFO] [1513823264.240859930]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 245) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.017 with score 65.6%.
[ INFO] [1513823264.340196404]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 250) with 102 points on submap (0, 3) differs by translation 0.02 rotation 0.003 with score 65.9%.
[ INFO] [1513823264.802270955]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 118) with 100 points on submap (0, 5) differs by translation 0.03 rotation 0.020 with score 71.3%.
[ INFO] [1513823264.808426942]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 115) with 100 points on submap (0, 5) differs by translation 0.03 rotation 0.035 with score 69.6%.
[ INFO] [1513823264.823537537]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 111) with 96 points on submap (0, 5) differs by translation 0.02 rotation 0.041 with score 66.2%.
[ INFO] [1513823264.843381607]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 131) with 100 points on submap (0, 5) differs by translation 0.01 rotation 0.027 with score 72.2%.
[ INFO] [1513823264.857014427]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 121) with 102 points on submap (0, 5) differs by translation 0.02 rotation 0.040 with score 66.8%.
[ INFO] [1513823264.863003572]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 125) with 104 points on submap (0, 5) differs by translation 0.02 rotation 0.031 with score 71.9%.
[ INFO] [1513823264.867747511]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 128) with 102 points on submap (0, 5) differs by translation 0.02 rotation 0.037 with score 70.9%.
[ INFO] [1513823264.905203864]: I1220 18:27:44.000000 79146 constraint_builder.cc:240] Node (0, 138) with 106 points on submap (0, 5) differs by translation 0.01 rotation 0.022 with score 67.1%.
[ INFO] [1513823264.942416665]: I1220 18:27:44.000000 79143 constraint_builder.cc:240] Node (0, 135) with 101 points on submap (0, 5) differs by translation 0.01 rotation 0.030 with score 66.8%.
[ INFO] [1513823264.947800801]: I1220 18:27:44.000000 79145 constraint_builder.cc:240] Node (0, 141) with 100 points on submap (0, 5) differs by translation 0.01 rotation 0.032 with score 68.3%.
[ INFO] [1513823264.976377974]: I1220 18:27:44.000000 79144 constraint_builder.cc:240] Node (0, 145) with 101 points on submap (0, 5) differs by translation 0.02 rotation 0.036 with score 65.6%.
[ INFO] [1513823265.058563881]: I1220 18:27:45.000000 79143 constraint_builder.cc:240] Node (0, 248) with 100 points on submap (0, 5) differs by translation 0.00 rotation 0.004 with score 71.6%.
[ INFO] [1513823265.063434377]: I1220 18:27:45.000000 79143 constraint_builder.cc:261] 109 computations resulted in 29 additional constraints.
[ INFO] [1513823265.064132437]: I1220 18:27:45.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 66 Min: 0.651554 Max: 0.820424 Mean: 0.695203
[0.651554, 0.668441) ######## Count: 25 (37.878788%) Total: 25 (37.878788%)
[0.668441, 0.685328) ### Count: 11 (16.666666%) Total: 36 (54.545456%)
[0.685328, 0.702215) ### Count: 10 (15.151515%) Total: 46 (69.696968%)
[0.702215, 0.719102) ## Count: 6 (9.090909%) Total: 52 (78.787880%)
[0.719102, 0.735989) # Count: 3 (4.545455%) Total: 55 (83.333336%)
[0.735989, 0.752876) # Count: 3 (4.545455%) Total: 58 (87.878784%)
[0.752876, 0.769763) # Count: 2 (3.030303%) Total: 60 (90.909088%)
[0.769763, 0.786650) # Count: 3 (4.545455%) Total: 63 (95.454544%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 63 (95.454544%)
[0.803537, 0.820424] # Count: 3 (4.545455%) Total: 66 (100.000000%)
[ INFO] [1513823266.066329570]: I1220 18:27:46.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.69 Hz 5.35e-02 s +/- 3.68e-03 s (pulsed at 99.95% real time)
[ INFO] [1513823271.104074195]: I1220 18:27:51.000000 79086 submaps.cc:190] Added submap 12
[ INFO] [1513823274.626924936]: I1220 18:27:54.000000 79086 submaps.cc:190] Added submap 13
[ INFO] [1513823279.319125369]: I1220 18:27:59.000000 79143 pose_graph.cc:341] Remaining work items in queue: 160
[ INFO] [1513823279.387486802]: I1220 18:27:59.000000 79143 constraint_builder.cc:240] Node (0, 253) with 101 points on submap (0, 5) differs by translation 0.02 rotation 0.022 with score 68.0%.
[ INFO] [1513823279.634850301]: I1220 18:27:59.000000 79146 constraint_builder.cc:240] Node (0, 268) with 100 points on submap (0, 5) differs by translation 0.02 rotation 0.017 with score 67.6%.
[ INFO] [1513823279.875451145]: I1220 18:27:59.000000 79086 submaps.cc:190] Added submap 14
[ INFO] [1513823279.991850800]: I1220 18:27:59.000000 79144 constraint_builder.cc:240] Node (0, 30) with 33 points on submap (0, 6) differs by translation 0.33 rotation 0.009 with score 69.9%.
[ INFO] [1513823280.291940778]: I1220 18:28:00.000000 79146 constraint_builder.cc:240] Node (0, 116) with 101 points on submap (0, 6) differs by translation 0.02 rotation 0.023 with score 71.8%.
[ INFO] [1513823280.313565622]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 113) with 101 points on submap (0, 6) differs by translation 0.02 rotation 0.025 with score 73.5%.
[ INFO] [1513823280.328324416]: I1220 18:28:00.000000 79143 constraint_builder.cc:240] Node (0, 110) with 97 points on submap (0, 6) differs by translation 0.02 rotation 0.002 with score 66.2%.
[ INFO] [1513823280.344198126]: I1220 18:28:00.000000 79144 constraint_builder.cc:240] Node (0, 120) with 101 points on submap (0, 6) differs by translation 0.01 rotation 0.013 with score 70.1%.
[ INFO] [1513823280.352632988]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 126) with 102 points on submap (0, 6) differs by translation 0.00 rotation 0.017 with score 67.5%.
[ INFO] [1513823280.604184071]: I1220 18:28:00.000000 79145 constraint_builder.cc:240] Node (0, 280) with 101 points on submap (0, 6) differs by translation 0.00 rotation 0.001 with score 71.0%.
[ INFO] [1513823280.635098049]: I1220 18:28:00.000000 79144 constraint_builder.cc:240] Node (0, 281) with 103 points on submap (0, 6) differs by translation 0.00 rotation 0.004 with score 71.2%.
[ INFO] [1513823280.636964565]: I1220 18:28:00.000000 79143 constraint_builder.cc:240] Node (0, 282) with 102 points on submap (0, 6) differs by translation 0.00 rotation 0.010 with score 69.4%.
[ INFO] [1513823280.637411228]: I1220 18:28:00.000000 79143 constraint_builder.cc:261] 130 computations resulted in 11 additional constraints.
[ INFO] [1513823280.637624095]: I1220 18:28:00.000000 79143 constraint_builder.cc:263] Score histogram:
Count: 77 Min: 0.651554 Max: 0.820424 Mean: 0.695395
[0.651554, 0.668441) ####### Count: 26 (33.766235%) Total: 26 (33.766235%)
[0.668441, 0.685328) #### Count: 14 (18.181818%) Total: 40 (51.948051%)
[0.685328, 0.702215) ### Count: 13 (16.883118%) Total: 53 (68.831169%)
[0.702215, 0.719102) ## Count: 9 (11.688312%) Total: 62 (80.519478%)
[0.719102, 0.735989) # Count: 4 (5.194805%) Total: 66 (85.714287%)
[0.735989, 0.752876) # Count: 3 (3.896104%) Total: 69 (89.610390%)
[0.752876, 0.769763) # Count: 2 (2.597403%) Total: 71 (92.207794%)
[0.769763, 0.786650) # Count: 3 (3.896104%) Total: 74 (96.103897%)
[0.786650, 0.803537) Count: 0 (0.000000%) Total: 74 (96.103897%)
[0.803537, 0.820424] # Count: 3 (3.896104%) Total: 77 (100.000000%)
[ INFO] [1513823281.121203749]: I1220 18:28:01.000000 79086 collated_trajectory_builder.cc:69] scan rate: 18.39 Hz 5.44e-02 s +/- 3.17e-03 s (pulsed at 100.02% real time)
[ INFO] [1513823287.151945618]: I1220 18:28:07.000000 79086 motion_filter.cc:42] Motion filter reduced the number of nodes to 31.9333%.
[ INFO] [1513823289.899679581]: I1220 18:28:09.000000 79086 submaps.cc:190] Added submap 15
^C[rviz-3] killing on exit
[cartographer_occupancy_grid_node-2] killing on exit
[cartographer_node-1] killing on exit
Optimizing: 16.2%...[cartographer_node-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
实时Cartographer测试(1) - rplidar的更多相关文章
- rplidar跑cartographer
一.Cartographer编译 cartographer依赖的大型第三方库很少,编译时基本没有依赖项问题,基本按照官方文档的步骤来,略作修改.使用的环境是Ubuntu16.04+ROS Kineti ...
- iNeuOS工业互联网操作系统，发布3.6.4版本：云端安全控制和实时日志功能，附Chrome、Firefox和Edge浏览器测试性能对比
目 录 1. 概述... 2 2. 平台演示... 2 3. 云端控制和实时日志设计和技术... 2 4. 实时日志测试... 2 1. 概述 ...
- HTTP压力测试工具
HttpTest4Net是一款基于C#实现的和HTTP压力测试工具,通过工具可以简单地对HTTP服务进行一个压力测试.虽然VS.NET也集成了压力测试项目,但由于VS自身占用的资源导致了在配置不高的P ...
- FPGA与simulink联合实时环路系列—开篇
FPGA与simulink联合实时环路系列—开篇 作为网络上第一个开源此技术,笔者迫不及待地想将此技术分享出来,希望大家多多支持.笔者从2011年接触FPGA以来,从各个方面使用FPGA,无论是控制. ...
- rplidar & hector slam without odometry
接上一篇:1.rplidar测试 方式一:测试使用rplidar A2跑一下手持的hector slam,参考文章:用hector mapping构建地图 但是roslaunch exbotxi_br ...
- Http压力测试工具HttpTest4Net
HttpTest4Net是一款基于C#实现的和HTTP压力测试工具,通过工具可以简单地对HTTP服务进行一个压力测试.虽然VS.NET也集成了压力测试项目,但由于VS自身占用的资源导致了在配置不高的P ...
- sysbench测试工具
sysbench简介 Sysbench是一个模块化的.跨平台.多线程基准测试工具,主要用于评估测试各种不同系统参数下的数据库负载情况.它主要包括以下几种方式的测试:cpu性能,磁盘io性能,线程调度性 ...
- rsync+inotify实现实时同步案例--转
转自:http://chocolee.blog.51cto.com/8158455/1400596 随着应用系统规模的不断扩大,对数据的安全性和可靠性也提出的更好的要求,rsync在高端业务系统中也逐 ...
- Rsync+inotify实现实时同步
1.1 inotify介绍 inotify是一种强大的.细粒度的.异步的文件系统事件控制机制.linux内核从2.6.13起,加入了inotify支持,通过inotify可以监控文件系统中添加.删除. ...
随机推荐
- [Java] Apache Ant 构建基础教程
环境:Ubuntu 12.04, java 1.7.0, ant 1.8.2. 前言 Apache Ant 是一个软件自动化构建工具,构建过程包括编译.测试和部署等.它和 Make 工具相似,但由 J ...
- Puppet软件资源管理
1.实现的功能: 管理那些软件包被安装,那些软件包被卸载 管理软件包是否更新 要求系统配置yum源(RedHat系统).zypper源(Suse系统)等等 2.可用参数: en ...
- hadoop程序实例
安装了Eclipse及hadoop-eclipse-plugin后学着<hadoop权威指南>中的气温例子写了一个输出气温的程序,数据是我自己简单写的,但是输出却不是我预想的,这中间还有很 ...
- N！
求N! Problem Description Given an integer N(0 ≤ N ≤ 10000), your task is to calculate N! Input One N ...
- 自建docker swarm体验简单之美
之前用的阿里云容器服务,但由于acsrouting的路由错乱问题,被逼上自建docker swarm的梁山.今天尝试自己搭建docker swarm,竟然轻松搞定,简单的超乎想象. 以下是实际搭建操作 ...
- MySQL 安装 用户管理 常用命令
MySQL目录 数据库概览 数据库介绍 Why Choose MySQL MySQL的前世今生 MySQL的安装 Windows安装MySQL5.721 installer版 Windows安 ...
- web标准 浏览器介绍 开发工具介绍 HTML介绍 HTML颜色介绍 规范 HTML结构详解 {前端之前端初识}
前端之前端初识 前端初识 本节目录 一 web标准 二 浏览器介绍 三 开发工具介绍 四 HTML介绍 五 HTML颜色介绍 六 规范 七 HTML结构详解 一 web标准 web准备介绍: 1. ...
- ESP8266 的几个代码 加深对LUA的理解
--some functions dofile("functions.lua") lighton1= lighton2= lighton3= lighton4= pin1 = pi ...
- [No0000C3]StarUML2 全平台破解方法
首先,找到安装目录下的"LicenseManagerDomain.js"文件,路径"StarUML\www\license\node\LicenseManagerDoma ...
- ZOJ - 2853 Evolution 线性变换变成矩阵快速幂
题意:给你N个数,1~N分别为num[i], 以及T个 (i,j,P) 对于每组(i,j,P),让你将 num[i] 减去 P*num[i] 再把 P*num[i] 加到 num[j] 上.T个 ...