利用ROS内建SLAM建立地图

ros中建地图方式有两种：

首先1、首先下载hector_slam包到你工作空间的src下
命令：

cd ~/catkin/src
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
cd ..
catkin_make

在~/catkin_ws/src/hector_slam/hector_slam_launch/launch/新建一个demo.launch

<?xml version="1.0"?>
<launch>
 <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>
  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 10"/>
  <!--<node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->
  <include file="$(find hector_mapping)/launch/mapping_default.launch"/>
  <node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>

修改~/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch

<?xml version="1.0"?>
<launch>
 <arg name="tf_map_scanmatch_transform_frame_name" default="/scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="base_link"/>
<arg name="pub_map_odom_transform" default="true"/>
 <arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
 <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
  <!-- Frame names -->
   <param name="map_frame" value="map" />
  <param name="base_frame" value="$(arg base_frame)" />
  <param name="odom_frame" value="$(arg base_frame)" />
   <!-- Tf use -->
  <param name="use_tf_scan_transformation" value="true"/>
   <param name="use_tf_pose_start_estimate" value="false"/>
   <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
   <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />
 <!-- Map update parameters -->
 <param name="update_factor_free" value="0.4"/>
  <param name="update_factor_occupied" value="0.7" />
   <param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.9" />
 <param name="laser_z_min_value" value = "-1.0" />
  <param name="laser_z_max_value" value = "1.0" />
  <!-- Advertising config -->
 <param name="advertise_map_service" value="true"/>
 <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
 <param name="scan_topic" value="$(arg scan_topic)"/>
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
 </node>
</launch>

我用的是rplidar激光雷达，主要价格比较便宜

修改rplidar驱动文件
在rplidar_ros/src/node.cpp中找到
nh_private.param<std::string>("frame_id", frame_id, "laser_frame");
将其改成：
nh_private.param<std::string>("frame_id", frame_id, "laser");
编译后运行：
roslaunch hector_slam_launch demo.launch