husky用cartographer来建图

在装好cartographer的时候。我们就可以写一个launch文件和lua文件来仿真我们的husky。

<launch>
  <param name="/use_sim_time" value="true" />

  <!--加载husky的模型文件-->
  <include file="$(find husky_description)/launch/description.launch" />

  <!--node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" /-->

  <!--cartographer的一个节点把、odom转化成husky_的odom-->
  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find husky_highlevel_controller)/config
          -configuration_basename husky.lua"
      output="screen">
    <remap from="/odom" to="/husky_velocity_controller/odom"/>
    <remap from="/scan" to="/scan"/>
  </node>

  <arg name="laser_enabled" default="true"/>
  <arg name="kinect_enabled" default="false"/>

  <!--启动husky的仿真包-->
  <include file="$(find husky_gazebo)/launch/playpen.launch" />

  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
  </include>

  <!--加一个导航，move_base控制节点，是我们前面配置过的几个参数文件-->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
  <rosparam file="$(find husky_highlevel_controller)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
  <rosparam file="$(find husky_highlevel_controller)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
  <rosparam file="$(find husky_highlevel_controller)/config/local_costmap_params.yaml" command="load" />
  <rosparam file="$(find husky_highlevel_controller)/config/global_costmap_params.yaml" command="load" />
  <rosparam file="$(find husky_highlevel_controller)/config/base_local_planner_params.yaml" command="load" />
  </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 husky_highlevel_controller)/config/husky_cart.rviz" />
 
</launch>

下面是lua文件