ros2，cartographer建图，rviz2不能显示submaps

阿甘

ros2,cartographer建图时，rviz2中submaps组件无法显示？

阿甘

小鱼

@阿甘平时没怎么注意submap，今天晚点我抽时间瞅瞅，图能正常建出来吗？carto配置参数怎么配的

阿甘

@小鱼感谢回复可以正常建图
配置参数：

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",  --imu_link
  published_frame = "base_link",  --base_link
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = true,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,--10
  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
MAP_BUILDER.num_background_threads=6 --7

TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.max_range = 15

TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters=0.08
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians=math.rad(6.)

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching =true

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.

TRAJECTORY_BUILDER_2D.submaps.num_range_data=100
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05



return options

阿甘

@小鱼 launch文件

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription

def generate_launch_description():
    # 定位到功能包的地址
    pkg_share = FindPackageShare(package='fishbot_cartographer').find('fishbot_cartographer')
    
    #=====================运行节点需要的配置=======================================================================
    # 是否使用仿真时间，我们用gazebo，这里设置成true
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    # 地图的分辨率
    resolution = LaunchConfiguration('resolution', default='0.05')
    # 地图的发布周期
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    # 配置文件夹路径
    configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    # 配置文件
    configuration_basename = LaunchConfiguration('configuration_basename', default='cartographer_slam.lua')
    
    urdf_dir = os.path.join(pkg_share, 'urdf')
    urdf_file = os.path.join(urdf_dir, 'jzdbot_base.urdf')
    with open(urdf_file, 'r') as infp:
        robot_desc = infp.read()

    #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    robot_state_publisher_node = Node(
        package = 'robot_state_publisher',
        executable = 'robot_state_publisher',
        parameters=[
            {'robot_description': robot_desc},
            {'use_sim_time': use_sim_time}],
        output = 'screen'
        )
    
    cartographer_node = Node(
        package='cartographer_ros',
        executable='cartographer_node',
        name='cartographer_node',
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        arguments=['-configuration_directory', configuration_directory,
                   '-configuration_basename', configuration_basename])

    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])

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

    #===============================================定义启动文件========================================================
    ld = LaunchDescription()
    ld.add_action(robot_state_publisher_node)
    ld.add_action(cartographer_node)
    ld.add_action(occupancy_grid_node)
    ld.add_action(rviz_node)
    return ld