ROS2+cartographer+镭神N10_P激光雷达建图

最新推荐文章于 2026-06-14 14:14:11 发布

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最新推荐文章于 2026-06-14 14:14:11 发布 · 5.8k 阅读

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环境：

Ubuntu22.04

ROS2 humble

激光雷达：镭神激光雷达N10_P

首先安装cartographer

安装这两个humble版本的包

sudo apt install ros-humble-cartographer ros-humble-cartographer-ros

等待安装完之后，查看是否有安装好

ros2 pkg list | grep cartogrpaher

返回即代表安装好

cartographer_ros
cartographer_ros_msgs

接着激活激光雷达驱动（以N10_P为例）

首先在自己的工作区使用git克隆命令将镭神工具包克隆到自己的工作区

git clone -b M10P/N10P https://github.com/Lslidar/Lslidar_ROS2_driver.git

克隆后的文件结构为

.
├── build
├── install
├── lslidar_driver
├── lslidar_msgs
├── README.md
└── version.txt

首先进入Lslidar_ROS2_driver文件夹

cd Lslidar_ROS2_driver

接着输入

colcon build
source install/setup.bash
ros2 launch lslidar_driver lslidar_launch.py

就可以看到激光雷达已经激活拥有了点云图像

在这里插入图片描述

激光雷达启动后会发布一个节点，然后cartographer订阅激光雷达节点发布的消息

接着我们来配置 cartographer的.lua文件和launch.py文件

这两个文件的路径分别在/opt/ros/humble/share/cartographer_ros/configuration_files

和/opt/ros/humble/share/cartographer_ros/launch下

首先我是修改了官方的backpack_2d.lua为mylaser.lua代码如下

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
   
   
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser_link",
  published_frame = "laser_link",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,
  use_odometry = false,
  use_nav_sat = false