你好,大佬,我使用的是 ros2 galactic,目前 定位是已经实现了,就是不能和地图匹配做一个重定位。include "cartographer.lua"
-- cartographer localization optimisation reference: https://google-cartographer-ros.readthedocs.io/en/latest/tuning.html#pure-localization-in-a-given-map
TRAJECTORY_BUILDER.pure_localization = true
-- fast localization
MAP_BUILDER.num_background_threads = 12
POSE_GRAPH.constraint_builder.sampling_ratio = 0.5 * POSE_GRAPH.constraint_builder.sampling_ratio
POSE_GRAPH.global_sampling_ratio = 0.1 * POSE_GRAPH.global_sampling_ratio
POSE_GRAPH.max_num_final_iterations = 1
POSE_GRAPH.optimize_every_n_nodes = 2
return options上面是我定位部分,其他部分采用建图的参数 Node(
package='cartographer_ros',
executable='cartographer_node',
name='cartographer_node',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
arguments=[
'-configuration_directory', cartographer_config_dir,
'-configuration_basename', configuration_basename,
'-load_state_filename_arg', load_state_filename_arg],
# remappings=[('odom','odom'),
# ('imu','/mobile_base/sensors/imu_data')]
),这是我的launch节点部分,也已经填入了 .pbstream文件,但是还是无法重定位,以下是rviz2中的显示:恳请佬的解惑,谢谢
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