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Cambio de sonar 2D a sonar 3D
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‎auv_max/package.xml

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<exec_depend>auv_max_node</exec_depend>
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<exec_depend>auv_max_control_vel</exec_depend>
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<exec_depend>auv_max_sonar</exec_depend>
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<exec_depend>auv_max_cartographer</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎auv_max_cartographer/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(auv_max_cartographer)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Load & run linters listed in package.xml
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(
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DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()

‎auv_max_cartographer/LICENSE

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Apache License
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Version 2.0, January 2004
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http://www.apache.org/licenses/
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‎auv_max_cartographer/config/cartographer_config.lua

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include "map_builder.lua"
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include "trajectory_builder.lua"
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options = {
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map_builder = MAP_BUILDER,
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trajectory_builder = TRAJECTORY_BUILDER,
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map_frame = "map",
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tracking_frame = "auv_max_shell",
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published_frame = "auv_max_shell",
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odom_frame = "odom",
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provide_odom_frame = true,
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publish_frame_projected_to_2d = false,
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use_pose_extrapolator = true,
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use_odometry = false,
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use_nav_sat = false,
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use_landmarks = false,
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num_laser_scans = 0,
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num_multi_echo_laser_scans = 0,
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num_subdivisions_per_laser_scan = 1,
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num_point_clouds = 1,
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lookup_transform_timeout_sec = 0.2,
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submap_publish_period_sec = 0.3,
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pose_publish_period_sec = 5e-3,
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trajectory_publish_period_sec = 30e-3,
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rangefinder_sampling_ratio = 1.,
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odometry_sampling_ratio = 1.,
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fixed_frame_pose_sampling_ratio = 1.,
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imu_sampling_ratio = 1.,
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landmarks_sampling_ratio = 1.,
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}
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TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 160
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MAP_BUILDER.use_trajectory_builder_3d = true
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MAP_BUILDER.num_background_threads = 7
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POSE_GRAPH.optimization_problem.huber_scale = 5e2
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POSE_GRAPH.optimize_every_n_nodes = 320
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POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
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POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
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POSE_GRAPH.constraint_builder.min_score = 0.62
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POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
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-- MAP_BUILDER.use_trajectory_builder_3d = true
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-- TRAJECTORY_BUILDER_3D.min_range = 1
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-- TRAJECTORY_BUILDER_3D.max_range = 10
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-- -- TRAJECTORY_BUILDER_3D.missing_data_ray_length = 5
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-- TRAJECTORY_BUILDER_3D.num_accumulated_range_data = 1
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-- -- TRAJECTORY_BUILDER_3D.use_imu_data = true -- Asegúrate de que 'use_imu_data' sea 'true' en la configuración de 3D
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-- TRAJECTORY_BUILDER_3D.submaps.high_resolution = 0.10
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-- TRAJECTORY_BUILDER_3D.submaps.low_resolution = 0.45
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-- TRAJECTORY_BUILDER_3D.submaps.num_range_data = 180
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-- TRAJECTORY_BUILDER_3D.voxel_filter_size = 0.15
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-- ... otras configuraciones para trajectory_builder_3d ...
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return options

‎auv_max_cartographer/launch/cartographer.launch.py

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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import ThisLaunchFileDir
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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auv_max_cartographer_prefix = get_package_share_directory('auv_max_cartographer')
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cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join(
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auv_max_cartographer_prefix, 'config'))
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configuration_basename = LaunchConfiguration('configuration_basename',
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default='cartographer_config.lua')
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return LaunchDescription([
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DeclareLaunchArgument(
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'cartographer_config_dir',
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default_value=cartographer_config_dir,
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description='Full path to the config file to load'),
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DeclareLaunchArgument(
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'configuration_basename',
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default_value=configuration_basename,
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description='Name of the lua file for Cartographer'),
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Node(
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package='cartographer_ros',
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executable='cartographer_node',
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name='cartographer_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-configuration_directory', cartographer_config_dir,
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'-configuration_basename', configuration_basename],
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remappings=[('/imu', '/model/auv_max/imu'),
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('/odom', '/model/auv_max/odometry'),
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('/horizontal_laser_3d', '/model/auv_max/remapped_sonar_point_cloud')]),
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Node(
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package='cartographer_ros',
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executable='cartographer_occupancy_grid_node',
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name='cartographer_occupancy_grid_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-resolution', '0.05', '-publish_period_sec', '1.0']),
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])

‎auv_max_cartographer/launch/occupancy_grid.launch.py

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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
8+
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
9+
resolution = LaunchConfiguration('resolution', default='0.05')
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publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
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return LaunchDescription([
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DeclareLaunchArgument(
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'resolution',
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default_value=resolution,
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description='Resolution of a grid cell in the published occupancy grid'),
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DeclareLaunchArgument(
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'publish_period_sec',
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default_value=publish_period_sec,
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description='OccupancyGrid publishing period'),
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use simulation (Gazebo) clock if true'),
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Node(
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package='cartographer_ros',
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executable='cartographer_occupancy_grid_node',
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name='cartographer_occupancy_grid_node',
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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arguments=['-resolution', 0.05, '-publish_period_sec', 1.0]),
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])

‎auv_max_cartographer/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>auv_max_cartographer</name>
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<version>0.0.1</version>
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<description>Cartographer package for AUV Max</description>
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<maintainer email="[email protected]">rov-robot</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_cmake_copyright</test_depend>
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<test_depend>ament_cmake_lint_cmake</test_depend>
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<test_depend>ament_cmake_xmllint</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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