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LOAM系列——FLOAM配置、安装、问题解决及VLP16测试效果（完结版）

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导读：本篇文章讲解 LOAM系列——FLOAM配置、安装、问题解决及VLP16测试效果（完结版），希望对大家有帮助，欢迎收藏，转发！站点地址：www.bmabk.com，来源：原文

LOAM系列——FLOAM配置、安装、问题解决及VLP16测试效果

安装依赖

  1. Ubuntu and ROS
  2. Ceres Solver
  3. PCL
  4. Trajectory visualization

    sudo apt-get install ros-melodic-hector-trajectory-server

安装

cd ~/test_ws/src
git clone https://github.com/wh200720041/floam.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="floam"

KITTI sequence 07

source ~/test_ws/devel/setup.bash
roslaunch floam floam.launch   #launch文件中包含bag的运行
如若想同时生成地图，则运行下面命令
roslaunch floam floam_mapping.launch

其中 floam.launch文件内容如下：

<?xml version="1.0"?>
<launch>
    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock $(env HOME)/test_bag/2011_09_30_0027.bag"/> 

    <!-- For Velodyne VLP-16 
    <param name="scan_line" value="16" />
    -->

    <!-- For Velodyne HDL-32 
    <param name="scan_line" value="32" />
    -->

    <!-- For Velodyne HDL-64 -->
    <param name="scan_line" value="64" />


    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />
    <param name="scan_period" value="0.1" /> 
    <param name="vertical_angle" type="double" value="2.0" />
    <param name="max_dis" type="double" value="90.0" />
    <param name="min_dis" type="double" value="3.0" />

    <!--- -->
    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
    
    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam.rviz" />
    </group>

    
  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="velodyne" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>
    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="base_link" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

</launch>

其中 floam_mapping.launch内容如下：

<?xml version="1.0"?>
<launch>

    
    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.5 $(env HOME)/test_bag/2011_09_30_0027.bag"/> 
    
    <!-- For Velodyne VLP-16 
    <param name="scan_line" value="16" />
    -->

    <!-- For Velodyne HDL-32 
    <param name="scan_line" value="32" />
    -->

    <!-- For Velodyne HDL-64 -->
    <param name="scan_line" value="64" />
    

    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />
    <param name="scan_period" value="0.1" />

    <param name="vertical_angle" type="double" value="2.0" />
    <param name="max_dis" type="double" value="90.0" />
    <param name="map_resolution" type="double" value="0.4" />
    <param name="min_dis" type="double" value="3.0" />
    <!--- -->
    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
    <node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>

    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
    
    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_mapping.rviz" />
    </group>

    
  	<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="velodyne" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>
    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="base_link" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

</launch>

VLP16 bag测试

source ~/test_ws/devel/setup.bash
roslaunch floam floam_velodyne.launch
cd ~/test_bag
rosbag play indoor_2021-03-30-15-27-23.bag
或者
roslaunch floam floam_velodyne_with_bag.launch

其中 floam_velodyne.launch 内容如下：

<?xml version="1.0"?>
<launch>

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

    <!-- launch your velodyne here 
    <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch"/>
    -->
    <!-- For Velodyne VLP-16 -->
    <param name="scan_line" value="16" />
    

    <!-- For Velodyne HDL-32 
    <param name="scan_line" value="32" />
    -->

    <!-- For Velodyne HDL-64 
    <param name="scan_line" value="64" />
    -->

    <!--- Sim Time -->
    <param name="scan_period" value="0.1" />

    <param name="vertical_angle" type="double" value="2.0" />
    <param name="map_resolution" type="double" value="0.2" />
    <param name="max_dis" type="double" value="90.0" />
    <param name="min_dis" type="double" value="0.5" />
    <!--- -->
    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
    <node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>

    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
    
    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_velodyne.rviz" />
    </group>

    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
        <!-- <param name="/target_frame_name" value="world" /> -->
	<param name="/target_frame_name" value="map" />
        <param name="/source_frame_name" value="base_link" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

</launch>

其中 loam_velodyne_with_bag.launch 内容如下：

<?xml version="1.0"?>
<launch>

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

    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.5 $(env HOME)/test_bag/indoor_2021-03-30-15-27-23.bag"/> 

    <!-- For Velodyne VLP-16 -->
    <param name="scan_line" value="16" />
    

    <!-- For Velodyne HDL-32 
    <param name="scan_line" value="32" />
    -->

    <!-- For Velodyne HDL-64 
    <param name="scan_line" value="64" />
    -->

    <!--- Sim Time -->
    <param name="scan_period" value="0.1" />

    <param name="vertical_angle" type="double" value="2.0" />
    <param name="map_resolution" type="double" value="0.2" />
    <param name="max_dis" type="double" value="90.0" />
    <param name="min_dis" type="double" value="0.5" />
    <!--- -->
    <node pkg="floam" type="floam_odom_estimation_node" name="floam_odom_estimation_node" output="screen"/>
    <node pkg="floam" type="floam_laser_processing_node" name="floam_laser_processing_node" output="screen"/>
    <node pkg="floam" type="floam_laser_mapping_node" name="floam_laser_mapping_node" output="screen"/>

    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />
    
    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find floam)/rviz/floam_velodyne.rviz" />
    </group>

    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="base_link" >
        <param name="/target_frame_name" value="world" /> 
        <param name="/source_frame_name" value="base_link" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

</launch>

测试视频链接

floam

问题解决

问题1

问题： floam_laser_mapping_node节点，可能会出现运行一段时间就报错，崩溃了

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