FallenSigh
74396f48a0
- Tune AMCL: widen sigma_hit (0.05→0.2), z_hit (0.5→0.9), z_rand, likelihood_max_dist, laser_max_range (5.0→8.0) for better convergence on 4x4m field - Propagate lidar_x/y/z/yaw/intensity/sample_rate/baudrate through bringup, localization, and mapping launch files so overrides reach the driver - Fix default lidar_z (0.0→0.02) in lidar.launch.py - Change rviz Fixed Frame odom→map to stop map jumping on AMCL corrections - Fix broken teach_points command in docs/localization.md; add troubleshooting entries for AMCL convergence and rf2o drift - Add ros2/AGENTS.md with ROS workspace build/style guidelines
103 lines
4.2 KiB
Python
103 lines
4.2 KiB
Python
#!/usr/bin/env python3
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"""P4 建图：激光 + rf2o 激光里程计 + slam_gmapping(SLAM)。
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odom→base_footprint 由 rf2o(从连续 /scan 推算)提供，**不依赖底盘里程计板** ——
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该板上电后仅短时上报，会让 odom TF 冻结、gmapping 报 "queue is full" 丢弃所有 scan。
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本管线对齐 lzu_robot 可正常建图的做法（rf2o 提供 odom→base，gmapping 出图）。
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用法：
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ros2 launch craic_localization mapping.launch.py
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# 另开终端遥控走图；满意后存盘：
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ros2 run nav2_map_server map_saver_cli -f <pkg>/maps/craic --ros-args -p save_map_timeout:=10000.0
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"""
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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, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_share = get_package_share_directory('craic_localization')
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lidar_launch = os.path.join(pkg_share, 'launch', 'lidar.launch.py')
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gmapping_params = os.path.join(pkg_share, 'config', 'gmapping.yaml')
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default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
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use_rviz = LaunchConfiguration('use_rviz')
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lidar_x = LaunchConfiguration('lidar_x')
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lidar_y = LaunchConfiguration('lidar_y')
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lidar_z = LaunchConfiguration('lidar_z')
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lidar_yaw = LaunchConfiguration('lidar_yaw')
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intensity = LaunchConfiguration('intensity')
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sample_rate = LaunchConfiguration('sample_rate')
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baudrate = LaunchConfiguration('baudrate')
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return LaunchDescription([
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DeclareLaunchArgument('use_rviz', default_value='true'),
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DeclareLaunchArgument('lidar_x', default_value='0.0',
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description='base_footprint -> laser_frame 平移 X (m)'),
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DeclareLaunchArgument('lidar_y', default_value='0.0',
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description='base_footprint -> laser_frame 平移 Y (m)'),
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DeclareLaunchArgument('lidar_z', default_value='0.02',
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description='base_footprint -> laser_frame 平移 Z (m)'),
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DeclareLaunchArgument('lidar_yaw', default_value='-3.14159',
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description='base_footprint -> laser_frame 偏航角 (rad)'),
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DeclareLaunchArgument('intensity', default_value='true'),
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DeclareLaunchArgument('sample_rate', default_value='4'),
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DeclareLaunchArgument('baudrate', default_value='230400'),
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# 激光 + 静态外参(base_footprint->laser_frame, base_footprint->base_link)
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(lidar_launch),
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launch_arguments={
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'lidar_x': lidar_x,
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'lidar_y': lidar_y,
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'lidar_z': lidar_z,
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'lidar_yaw': lidar_yaw,
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'intensity': intensity,
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'sample_rate': sample_rate,
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'baudrate': baudrate,
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}.items(),
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),
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# 激光里程计：从 /scan 连续输出 odom -> base_footprint（建图运动来源）
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Node(
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package='rf2o_laser_odometry',
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executable='rf2o_laser_odometry_node',
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name='rf2o_laser_odometry',
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output='screen',
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parameters=[{
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'laser_scan_topic': '/scan',
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'odom_topic': '/odom',
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'publish_tf': True,
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'base_frame_id': 'base_footprint',
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'odom_frame_id': 'odom',
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'init_pose_from_topic': '',
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'freq': 10.0,
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}],
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),
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# SLAM：发布 /map 与 TF map -> odom
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Node(
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package='slam_gmapping',
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executable='slam_gmapping',
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name='slam_gmapping',
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output='screen',
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parameters=[gmapping_params],
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),
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', default_rviz],
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condition=IfCondition(use_rviz),
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output='screen',
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),
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])
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