{"id":17342,"date":"2024-10-24T16:08:33","date_gmt":"2024-10-24T08:08:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=17342"},"modified":"2024-10-24T16:08:33","modified_gmt":"2024-10-24T08:08:33","slug":"2024-10-24-autoware-universe%e4%b8%ad%e5%9f%ba%e4%ba%8eslam%e7%ae%97%e6%b3%95lio-sam%e7%ae%97%e6%b3%95%e7%94%9f%e6%88%90%e7%82%b9%e4%ba%91%e5%9c%b0%e5%9b%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/24\/17342\/","title":{"rendered":"2024-10-24 Autoware.universe\u4e2d\u57fa\u4e8eSLAM\u7b97\u6cd5(LIO-SAM\u7b97\u6cd5)\u751f\u6210\u70b9\u4e91\u5730\u56fe"},"content":{"rendered":"\n

\u673a\u5668\u73af\u5883\uff1aUbuntu22.04 + ROS2 + Autoware.universe + LIO-SAM<\/em><\/p>\n\n\n\n

\u4e00\u3001\u80cc\u666f<\/p>\n\n\n\n

Autoware \u7684\u6b63\u5e38\u8fd0\u884c\uff0c\u5982\u5b9a\u4f4d\u3001\u89c4\u5b54\u7b49\u90fd\u79bb\u4e0d\u5f00\u8f66\u8f86\u64cd\u4f5c\u73af\u5883\u7684\u70b9\u4e91\u5730\u56fe\u548c\u77e2\u91cf\u5730\u56fe\u3002\u4f20\u7edf\u4e0a\uff0c\u53ef\u4ee5\u4f7f\u7528\u79fb\u52a8\u6d4b\u7ed8\u7cfb\u7edf\uff08MMS\uff09\u6765\u521b\u5efa\u9ad8\u5ea6\u7cbe\u786e\u7684\u5927\u89c4\u6a21\u70b9\u4e91\u5730\u56fe\u3002\u4f46\u662f\u7531\u4e8eMMS\u9700\u8981\u9ad8\u7aef\u4f20\u611f\u5668\u8fdb\u884c\u7cbe\u786e\u5b9a\u4f4d\uff0c\u5176\u8fd0\u8425\u6210\u672c\u53ef\u80fd\u975e\u5e38\u6602\u8d35\uff0c\u53ef\u80fd\u4e0d\u9002\u5408\u76f8\u5bf9\u8f83\u5c0f\u7684\u9a7e\u9a76\u73af\u5883\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u9009\u62e9\u4f7f\u7528\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff08SLAM\uff09\u7b97\u6cd5\u4ece\u8bb0\u5f55\u7684\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u4e2d\u521b\u5efa\u70b9\u4e91\u56fe\u3002<\/p>\n\n\n\n

\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0c\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u4f1a\u7d2f\u79ef\u6f02\u79fb\uff0c\u6709\u4e00\u4e9b\u89e3\u51b3\u65b9\u6848\u53ef\u4ee5\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u5982\u56fe\u4f18\u5316\u3001\u73af\u8def\u95ed\u5408\u548c\u4f7f\u7528GPS\u4f20\u611f\u5668\u6765\u51cf\u5c11\u7d2f\u79ef\u6f02\u79fb\u8bef\u5dee\u3002\u56e0\u6b64\uff0cSLAM\u7b97\u6cd5\u5e94\u5177\u6709\u73af\u8def\u95ed\u5408\u3001\u56fe\u4f18\u5316\u7b49\u7279\u5f81\uff0c\u5e76\u5e94\u4f7f\u7528GPS\u4f20\u611f\u5668\u3002\u6b64\u5916\uff0c\u4e00\u4e9b\u7b97\u6cd5\u6b63\u5728\u4f7f\u7528IMU\u4f20\u611f\u5668\u5728\u56fe\u5f62\u4e2d\u6dfb\u52a0\u53e6\u4e00\u4e2a\u53c2\u8003\u56e0\u7d20\uff0c\u4ee5\u51cf\u5c11\u6f02\u79fb\u8bef\u5dee\u3002\u5176\u4e2d\uff0c\u6709\u4e9b\u7b97\u6cd5\u4e25\u683c\u8981\u6c429\u8f74IMU\u4f20\u611f\u5668\uff0c\u6709\u4e9b\u7b97\u6cd5\u53ea\u8981\u6c426\u8f74IMU\uff0c\u751a\u81f3\u4e0d\u4f7f\u7528IMU\u4f20\u611f\u5668\u3002\u5177\u4f53\u662f\u5426\u4f7f\u7528IMU\u5f97\u770b\u5177\u4f53\u7684\u5e94\u7528\u573a\u666f\u3002<\/p>\n\n\n\n

\u4e8c\u3001\u786e\u5b9aSLAM\u7b97\u6cd5<\/p>\n\n\n\n

\u53c2\u8003\u6587\u6863<\/p>\n\n\n\n

Autoware.universe \u5b98\u7f51<\/a><\/p>\n\n\n\n

SLAM\u7b97\u6cd5\u9009\u62e9<\/p>\n\n\n\n

\u5e38\u7528\u7684\u5f00\u6e90SLAM\u5b9e\u73b0\u662flidarslam-ros2\uff08\u6fc0\u5149\u96f7\u8fbe\u3001IMU\uff09\u548cLIO-SAM\uff08\u6fc0\u5149\u96f7\u8fbe\uff0cIMU\uff0cGNSS\uff09\u3002\u62ec\u53f7\u4e2d\u6307\u5b9a\u4e86\u6bcf\u79cd\u7b97\u6cd5\u6240\u9700\u7684\u4f20\u611f\u5668\u6570\u636e\uff0c\u5176\u4e2d\u661f\u53f7\uff08<\/em>\uff09\u8868\u793a\u6b64\u7c7b\u4f20\u611f\u5668\u6570\u636e\u662f\u53ef\u9009\u7684\u3002\u5e76\u4e14\u9488\u5bf9\u4e8eROS1\u548cROS2\u7cfb\u7edf\uff0c\u4e0d\u540c\u7684\u7b97\u6cd5\u652f\u6301\u7a0b\u5ea6\u4e0d\u4e00\u6837\uff0c\u6709\u4e9b\u53ea\u652f\u6301ROS1\uff0c\u6709\u4e9b\u53ea\u652f\u6301ROS2,\u6709\u4e9b\u53ef\u540c\u65f6\u652f\u6301ROS1\u548cROS2\u3002\u4e0b\u9762\u662f\u5e38\u89c1\u7684\u4e00\u4e9bSLAM\u7b97\u6cd5\uff0c\u4ee5\u53ca\u5b83\u4eec\u4f7f\u7528\u7684\u4e00\u4e9b\u6761\u4ef6\u4e0e\u4f9d\u8d56\u9879\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u4e0a\u8868\u4e2d\uff0c\u53ea\u6709LIO-SAM\u57fa\u4e8eROS2\u7684\uff0c\u6240\u4ee5\u9009\u62e9\u6b64\u7b97\u6cd5\u3002\u9700\u8981\u5982\u4e0b\u4f20\u611f\u5668\uff1a<\/p>\n\n\n\n

LIDAR [Livox, Velodyne, Ouster, Robosense*] (*Robosense\u6fc0\u5149\u96f7\u8fbe\u6ca1\u6709\u5f97\u5230\u5b98\u65b9\u652f\u6301\uff0c\u4f46\u4ed6\u4eec\u7684Helios\u7cfb\u5217\u53ef\u4ee5\u7528\u4f5cVelodyne\u6fc0\u5149\u96f7\u8fbe\u7684\u66ff\u4ee3)\n\nIMU [9-AXIS]\n\nGPS [OPTIONAL]<\/code><\/pre>\n\n\n\n
\u4e0b\u9762\u662fLIO-SAM\u7b97\u6cd5\u7684\u67b6\u6784\u56fe\uff0c\u8f93\u5165\u4e3a\u70b9\u4e91\u6570\u636e(Point Cloud)\u3001IMU\u6570\u636e\u548cGPS\u6570\u636e\u3002<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4e09\u3001\u76f8\u5173\u914d\u7f6e\u4e0e\u6570\u636e\u83b7\u53d6<\/p>\n\n\n\n
\u53c2\u8003\u6587\u6863<\/h3>\n\n\n\n
LIO-SAM Github\u94fe\u63a5<\/a><\/p>\n\n\n\n
\u76f8\u5173\u914d\u7f6e<\/h3>\n\n\n\n
\u5b89\u88c5\u4f9d\u8d56\u9879\uff1a<\/p>\n\n\n\n
sudo apt install ros-<ros2-version>-perception-pcl \\\n  \t   ros-<ros2-version>-pcl-msgs \\\n  \t   ros-<ros2-version>-vision-opencv \\\n  \t   ros-<ros2-version>-xacro<\/code><\/pre>\n\n\n\n
Add GTSAM-PPA<\/p>\n\n\n\n
sudo add-apt-repository ppa:borglab\/gtsam-release-4.1
sudo apt install libgtsam-dev libgtsam-unstable-dev<\/code><\/pre>\n\n\n\n
\u62c9\u53d6LIO-SAM\u7b97\u6cd5\u4ed3\u5e93\uff1a<\/p>\n\n\n\n
cd ~\/ros2_ws\/src\ngit clone https:\/\/github.com\/TixiaoShan\/LIO-SAM.git<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1\uff1a<\/p>\n\n\n\n
cd lio-sam
git checkout ros2
cd ..
colcon build<\/code><\/pre>\n\n\n\n
\u6570\u636e\u83b7\u53d6<\/p>\n\n\n\n
\u76ee\u524d\uff0c\u7f51\u4e0a\u57fa\u4e8eROS2\u7684\u5f00\u6e90\u6570\u636e\u5e93\u5f88\u5c11\uff0c\u5e76\u4e14LIO-SAM\u7b97\u6cd5\u7684\u4f5c\u8005\u4e5f\u5e76\u6ca1\u6709\u63d0\u4f9bROS2\u7684\u6570\u636e\u5e93\u3002\u7136\u540e\uff0c\u4f5c\u8005\u63d0\u4f9b\u4e86\u597d\u51e0\u4e2aROS1\u7684\u6570\u636e\u5e93\u3002\u5176\u4e2dROS1\u7684\u6570\u636e\u662f\u4ee5.bag\u4e3a\u540e\u7f00\u7684\u6587\u4ef6\uff0cROS2\u7684\u6570\u636e\u662f\u5305\u62ec.yaml\u548c.db3\u7684rosbag\u6570\u636e\u5305\u3002\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u8f6c\u5316\u5de5\u5177\u5c06ROS1\u7684\u6570\u636e\u5305\u8f6c\u6362\u4e3aROS2\u7684\u6570\u636e\u5305\uff1a<\/p>\n\n\n\n
1\u3001\u83b7\u53d6\u6570\u636e<\/p>\n\n\n\n
\u57fa\u4e8eROS1\u7684\u6570\u636e\u96c6\u4e0b\u8f7d\u5730\u5740<\/a><\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u5176\u4e2d\uff0c\u53ef\u4ee5\u9009\u62e9park_dataset.bag\u8fd9\u4e00\u7b14\u6570\u636e\u4f5c\u4e3a\u8dd1\u901a\u7b97\u6cd5\u7684\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n
2\u3001\u6570\u636e\u8f6c\u6362<\/p>\n\n\n\n
\u53ef\u4ee5\u4f7f\u7528ROS1\u7cfb\u7edf\u4e0b\u7684rosbags-convert \u6307\u4ee4\u5c06ROS1\u7684.bag\u5305\u8f6c\u5316\u4e3aROS2\u7684.db3\u6570\u636e\u5305\u3002\u8fd9\u91cc\u9700\u8981\u6ce8\u610f\u7684\u4e00\u70b9\u662f\uff0c\u5fc5\u987b\u5728ROS1\u7684\u7cfb\u7edf\u4e0b\u8fdb\u884c\u8f6c\u6362\u3002<\/p>\n\n\n\n
sudo apt install rosbags<\/code><\/pre>\n\n\n\n
rosbags-convert park_dataset.bag<\/code><\/pre>\n\n\n\n
\u8f6c\u6362\u7ed3\u675f\u540e\uff0c\u4f1a\u5728.bag\u7684\u540c\u7ea7\u76ee\u5f55\u4e0b\u751f\u6210\u4e00\u4e2a\u540c\u540d\u6587\u4ef6\u5939\uff0c\u91cc\u9762\u5305\u62ec.yaml\u548c.dbs\u6587\u4ef6\u3002<\/p>\n\n\n\n
\u56db\u3001SLAM\u7b97\u6cd5\u53c2\u6570\u914d\u7f6e
\u4fee\u6539LIO-SAM\u4ed3\u5e93install\u4e0b\u7684 src\/config\/params.yaml\uff0c\u4ee5\u4fdd\u8bc1\u7b97\u6cd5\u5728\u89e3\u6790\u65f6\u4e0erosbag\u6570\u636e\u5305\u4e2d\u7684\u76f8\u5173\u4f20\u611f\u5668\u7684\u53c2\u6570\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n
\u4e94\u3001\u70b9\u4e91\u5730\u56fe\u751f\u6210\u4e0e\u4fdd\u5b58<\/p>\n\n\n\n
\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884clio-sam\u7b97\u6cd5\uff1a<\/p>\n\n\n\n
ros2 launch lio_sam run.launch.py<\/code><\/pre>\n\n\n\n
\u8f6c\u6362\u7ed3\u675f\u540e\uff0c\u4f1a\u5728.bag\u7684\u540c\u7ea7\u76ee\u5f55\u4e0b\u751f\u6210\u4e00\u4e2a\u540c\u540d\u6587\u4ef6\u5939\uff0c\u91cc\u9762\u5305\u62ec.yaml\u548c.dbs\u6587\u4ef6\u3002<\/p>\n\n\n\n
\u56db\u3001SLAM\u7b97\u6cd5\u53c2\u6570\u914d\u7f6e<\/p>\n\n\n\n
\u4fee\u6539LIO-SAM\u4ed3\u5e93install\u4e0b\u7684 src\/config\/params.yaml\uff0c\u4ee5\u4fdd\u8bc1\u7b97\u6cd5\u5728\u89e3\u6790\u65f6\u4e0erosbag\u6570\u636e\u5305\u4e2d\u7684\u76f8\u5173\u4f20\u611f\u5668\u7684\u53c2\u6570\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n
\u4e94\u3001\u70b9\u4e91\u5730\u56fe\u751f\u6210\u4e0e\u4fdd\u5b58<\/p>\n\n\n\n
\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884clio-sam\u7b97\u6cd5\uff1a<\/p>\n\n\n\n
ros2 launch lio_sam run.launch.py<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u6253\u5f00\u53e6\u4e00\u4e2a\u7ec8\u7aef\uff0c\u56de\u653erosbag\u6570\u636e\u5305\uff1a<\/p>\n\n\n\n
ros2 bag play park_dataset<\/code><\/pre>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u4f1a\u5728Rviz\u4e2d\u770b\u5230\u751f\u6210\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7b49\u5230rosbag\u5185\u7684\u6570\u636e\u64ad\u653e\u7ed3\u675f\uff0c\u5730\u56fe\u4e5f\u751f\u6210\u597d\u4e86\uff0c\u8fd0\u884c\u4e0b\u9762\u547d\u4ee4\u4fdd\u5b58\u70b9\u4e91\u5730\u56fe\uff1a<\/p>\n\n\n\n
ros2 service call \/lio_sam\/save_map lio_sam\/srv\/SaveMap \"{resolution: 0.2, destination: \/Downloads\/service_LOAM}\"<\/code><\/pre>\n\n\n\n
\u6700\u540e\u53ef\u4ee5\u751f\u6210\u5bf9\u5e94\u7684pcd\u6587\u4ef6\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\u7528.pcd\u6587\u4ef6\u6253\u5f00\u5668\u6253\u5f00\u6240\u751f\u6210\u7684\u70b9\u4e91\u5730\u56fe\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n","protected":false},"excerpt":{"rendered":"
\u673a\u5668\u73af\u5883\uff1aUbuntu22.04 + ROS2 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-17342","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17342"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=17342"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17342\/revisions"}],"predecessor-version":[{"id":17354,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17342\/revisions\/17354"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=17342"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=17342"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=17342"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}