带着几个思考问题:
(1)IMU数据的使用,如何融合,Kalman滤波?
(2)图优化的具体实现,闭环检测的策略?
(3)3D激光的接入和闭环策略?
1. 安装Kdevelop工具:
http://blog.csdn.net/p942005405/article/details/75715288
http://blog.csdn.net/wan_exe/article/details/56275108
yhexie@ubuntu:~$ sudo apt-get install kdevelop
[sudo] password for yhexie:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools
kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration
libattica0. libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0
libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4
libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5
libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5
libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5
libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5
libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5
libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data
libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data
libkf5dbusaddons5 libkf5declarative-data libkf5declarative5
libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5
libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5
libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5
libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data
libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data
libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5
libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data
libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5
libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5
libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data
libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5
libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4
libknewstuff3- libknotifyconfig4 libkntlm4 libkparts4 libkpty4
libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route--
libntrack-qt4- libntrack0 libphonon4 libphonon4qt5- libplasma3
libpolkit-qt-- libpolkit-qt5-- libqca2 libqca2-plugins libqjson0
libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5
libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0
ntrack-module-libnl- oxygen-icon-theme oxygen5-icon-theme phonon
phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
Suggested packages:
docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html
| docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc
docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan
libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin
finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi
phonon-backend-mplayer phonon-backend-vlc gstreamer1.-plugins-ugly
phonon4qt5-backend-gstreamer perlsgml w3-recs opensp
The following NEW packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs
kdoctools kpackagelauncherqml kpackagetool5 kwayland-data
kwayland-integration libattica0. libdbusmenu-qt2 libdbusmenu-qt5
libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6
libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5
libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4
libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5
libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data
libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5
libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5
libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin
libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data
libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data
libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5
libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data
libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5
libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5
libkf5notifications-data libkf5notifications5 libkf5package-data
libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5
libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data
libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data
libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data
libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5
libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5
libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3- libknotifyconfig4
libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4
libkxmlrpcclient4 libnl-route-- libntrack-qt4- libntrack0 libphonon4
libphonon4qt5- libplasma3 libpolkit-qt-- libpolkit-qt5-- libqca2
libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4
libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1
libxcb-composite0 libxcb-damage0 ntrack-module-libnl- oxygen-icon-theme
oxygen5-icon-theme phonon phonon-backend-gstreamer
phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
upgraded, newly installed, to remove and not upgraded.
Need to get 82.5 MB of archives.
After this operation, MB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqjson0 amd64 0.8.1-3 [63.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 fonts-dejavu all 2.35-1 [3,184 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 icoutils amd64 0.31.0-3 [56.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative-data all 5.18.0-0ubuntu1 [49.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-data all 5.18.0-0ubuntu1 [70.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configcore5 amd64 5.18.0-0ubuntu1 [110 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n-data all 5.18.0-0ubuntu1 [1,032 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n5 amd64 5.18.0-0ubuntu1 [109 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-data all 5.18.0-0ubuntu1 [30.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets-data all 5.18.0-0ubuntu1 [189 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth-data all 5.18.0-0ubuntu2 [24.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons-data all 5.18.0-0ubuntu1.1 [122 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libfam0 amd64 2.7.0-17.1 [17.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons5 amd64 5.18.0-0ubuntu1.1 [190 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt5-1-1 amd64 0.112.0-4 [54.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth5 amd64 5.18.0-0ubuntu2 [46.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs-data all 5.18.0-0ubuntu1 [56.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs5 amd64 5.18.0-0ubuntu1 [87.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configgui5 amd64 5.18.0-0ubuntu1 [38.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5guiaddons5 amd64 5.18.0-0ubuntu1 [37.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons-data all 5.18.0-0ubuntu1 [1,252 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons5 amd64 5.18.0-0ubuntu1 [343 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets5 amd64 5.18.0-0ubuntu1 [112 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews-data all 5.18.0-0ubuntu1 [13.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews5 amd64 5.18.0-0ubuntu1 [71.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes5 amd64 5.18.0-0ubuntu1 [76.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion-data all 5.18.0-0ubuntu1 [22.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion5 amd64 5.18.0-0ubuntu1 [69.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets-data all 5.18.0-0ubuntu1 [52.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets5 amd64 5.18.0-0ubuntu1 [46.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-data all 5.18.0-0ubuntu1 [13.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons5 amd64 5.18.0-0ubuntu1 [22.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem-data all 5.18.0-0ubuntu1 [10.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem5 amd64 5.18.0-0ubuntu1 [122 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5crash5 amd64 5.18.0-0ubuntu1 [12.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-data all 5.18.0-0ubuntu1 [61.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service5 amd64 5.18.0-0ubuntu1 [188 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-bin amd64 5.18.0-0ubuntu1 [24.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiocore5 amd64 5.18.0-0ubuntu1.1 [411 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiowidgets5 amd64 5.18.0-0ubuntu1.1 [331 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package-data all 5.18.0-0ubuntu1 [59.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5archive5 amd64 5.18.0-0ubuntu1.1 [75.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package5 amd64 5.18.0-0ubuntu1 [51.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative5 amd64 5.18.0-0ubuntu1 [27.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-privatewidgets amd64 5.5.1-1ubuntu1 [38.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-dialogs amd64 5.5.1-1ubuntu1 [89.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-data all 5.18.0-0ubuntu1 [31.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel5 amd64 5.18.0-0ubuntu1 [44.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrols amd64 5.18.0-0ubuntu1 [25.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5quickaddons5 amd64 5.18.0-0ubuntu1 [23.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrolsaddons amd64 5.18.0-0ubuntu1 [59.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5activities5 amd64 5.18.0-0ubuntu1 [54.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5calendarevents5 amd64 5.18.0-0ubuntu1 [10.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications-data all 5.18.0-0ubuntu1 [20.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt5 amd64 0.9.3+16.04.20160218-0ubuntu1 [66.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4qt5-4 amd64 4:4.8.3-0ubuntu3 [145 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications5 amd64 5.18.0-0ubuntu1 [89.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-data all 5.18.0-0ubuntu1 [367 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5attica5 amd64 5.18.0-0ubuntu1 [134 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets-data all 5.18.0-0ubuntu1 [173 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnet5-data all 5.18.0-0ubuntu1 [160 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetcore5 amd64 5.18.0-0ubuntu1 [44.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetui5 amd64 5.18.0-0ubuntu1 [41.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets5 amd64 5.18.0-0ubuntu1 [75.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui5 amd64 5.18.0-0ubuntu1 [291 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasma5 amd64 5.18.0-0ubuntu1.1 [217 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasmaquick5 amd64 5.18.0-0ubuntu1.1 [94.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-composite0 amd64 1.11.1-1ubuntu1 [5,100 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-damage0 amd64 1.11.1-1ubuntu1 [4,784 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 plasma-framework amd64 5.18.0-0ubuntu1.1 [3,377 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-activities amd64 5.18.0-0ubuntu1 [72.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kactivities amd64 5.18.0-0ubuntu1 [215 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kapptemplate amd64 4:15.12.3-0ubuntu1 [857 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kate-data all 4:4.14.3-0ubuntu4 [1,461 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libdlrestrictions1 amd64 0.15.20~ubuntu4 [10.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdecore5 amd64 4:4.14.16-0ubuntu3.2 [934 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libattica0.4 amd64 0.4.2-2 [175 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt2 amd64 0.9.3+16.04.20160218-0ubuntu1 [73.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeui5 amd64 4:4.14.16-0ubuntu3.2 [1,314 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkcmutils4 amd64 4:4.14.16-0ubuntu3.2 [96.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libsolid4 amd64 4:4.14.16-0ubuntu3.2 [276 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreams0v5 amd64 0.7.8-2ubuntu1 [80.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreamanalyzer0v5 amd64 0.7.8-2ubuntu1 [274 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkio5 amd64 4:4.14.16-0ubuntu3.2 [865 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknewstuff3-4 amd64 4:4.14.16-0ubuntu3.2 [164 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkparts4 amd64 4:4.14.16-0ubuntu3.2 [123 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libktexteditor4 amd64 4:4.14.16-0ubuntu3.2 [97.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkatepartinterfaces4 amd64 4:4.14.3-0ubuntu4 [864 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 katepart amd64 4:4.14.3-0ubuntu4 [62.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 breeze-icon-theme amd64 4:5.18.0-0ubuntu1 [2,348 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime-data all 4:15.12.3-0ubuntu1 [6,829 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5style5 amd64 5.18.0-0ubuntu1 [13.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze amd64 4:5.5.5-0ubuntu1 [185 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze-qt4 amd64 4:5.5.5-0ubuntu1 [149 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsapi4 amd64 4:4.14.16-0ubuntu3.2 [266 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsembed4 amd64 4:4.14.16-0ubuntu3.2 [309 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkrosscore4 amd64 4:4.14.16-0ubuntu3.2 [57.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs-bin amd64 4:4.14.16-0ubuntu3.2 [168 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-data all 4:4.14.16-0ubuntu3.2 [2,622 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkpty4 amd64 4:4.14.16-0ubuntu3.2 [32.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkde3support4 amd64 4:4.14.16-0ubuntu3.2 [314 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkhtml5 amd64 4:4.14.16-0ubuntu3.2 [2,032 kB]
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Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB]
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kdevelop
2. Cartographer_ROS不同节点的入口main()函数
这里作一点更正,首先Cartographer_ROS是一个Package,包含多个node,所以程序入口main函数有很多个。比如还有offline_node_main.cc,通过查看不同的launch文件可以看看究竟有多少个node。
这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。
(1) 主程序入口(node_main.cc)
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[]);
google::ParseCommandLineFlags(&argc, &argv, true); CHECK(!FLAGS_configuration_directory.empty())
<< "-configuration_directory is missing.";
CHECK(!FLAGS_configuration_basename.empty())
<< "-configuration_basename is missing."; ::ros::init(argc, argv, "cartographer_node");
::ros::start(); cartographer_ros::ScopedRosLogSink ros_log_sink;
cartographer_ros::Run();
::ros::shutdown();
}
main
(2) cartographer_ros::Run()是全局函数。
注意该方法中的::ros::spin();进入ROS系统内部循环,消息的请求响应,各种处理开始。
void cartographer_ros::Run() {
constexpr double kTfBufferCacheTimeInSeconds = 1e6;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer);
NodeOptions node_options;
TrajectoryOptions trajectory_options;
std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename); Node node(node_options, &tf_buffer);
if (!FLAGS_map_filename.empty())
{
node.LoadMap(FLAGS_map_filename);
} if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
} ::ros::spin(); node.FinishAllTrajectories();
node.RunFinalOptimization(); if (!FLAGS_save_map_filename.empty())
{
node.SerializeState(FLAGS_save_map_filename);
}
}
cartographer_ros::Run()
(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);
在cartographer_ros::Run()第15行-18行,执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。
Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
: node_options_(node_options),
map_builder_bridge_(node_options_, tf_buffer) {
carto::common::MutexLocker lock(&mutex_);
submap_list_publisher_ =
node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
kSubmapListTopic, kLatestOnlyPublisherQueueSize);
trajectory_node_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
constraint_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kConstraintListTopic, kLatestOnlyPublisherQueueSize);
service_servers_.push_back(node_handle_.advertiseService(
kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
service_servers_.push_back(node_handle_.advertiseService(
kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kWriteStateServiceName, &Node::HandleWriteState, this)); scan_matched_point_cloud_publisher_ =
node_handle_.advertise<sensor_msgs::PointCloud2>(
kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize); wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.submap_publish_period_sec),
&Node::PublishSubmapList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.pose_publish_period_sec),
&Node::PublishTrajectoryStates, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.trajectory_publish_period_sec),
&Node::PublishTrajectoryNodeList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(kConstraintPublishPeriodSec),
&Node::PublishConstraintList, this));
}
Node构造函数
if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
}
Node::StartTrajectoryWithDefaultTopics函数如下:
void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
{
carto::common::MutexLocker lock(&mutex_);
CHECK(ValidateTrajectoryOptions(options));
AddTrajectory(options, DefaultSensorTopics());//注意
}
DefaultSensorTopics()函数如下:
cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
{
cartographer_ros_msgs::SensorTopics topics;
topics.laser_scan_topic = kLaserScanTopic;
topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
topics.point_cloud2_topic = kPointCloud2Topic;
topics.imu_topic = kImuTopic;
topics.odometry_topic = kOdometryTopic;
return topics;
}
(3.1)查看Node::AddTrajectory的代码,特别注意map_builder_bridge_.AddTrajectory(x,x),需要重点阅读。
int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
AddExtrapolator(trajectory_id, options);
AddSensorSamplers(trajectory_id, options);
LaunchSubscribers(options, topics, trajectory_id);//消息订阅,重要
is_active_trajectory_[trajectory_id] = true;
subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
return trajectory_id;
}
其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。
std::unordered_set<std::string> Node::ComputeExpectedTopics( const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
std::unordered_set<std::string> expected_topics;
// Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds))
{
expected_topics.insert(topic);
}
// For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data()))
{
expected_topics.insert(topics.imu_topic);
}
// Odometry is optional.
if (options.use_odometry)
{
expected_topics.insert(topics.odometry_topic);
}
return expected_topics;
}
Node::ComputeExpectedTopics
(3.2) 消息订阅
void Node::LaunchSubscribers(const TrajectoryOptions& options,
const cartographer_ros_msgs::SensorTopics& topics,
const int trajectory_id) {
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::LaserScan>(
&Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
this),
topic});
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
&Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
&node_handle_, this),
topic});
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::PointCloud2>(
&Node::HandlePointCloud2Message, trajectory_id, topic,
&node_handle_, this),
topic});
} // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data())) {
std::string topic = topics.imu_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
} if (options.use_odometry) {
std::string topic = topics.odometry_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
}
}
Node::LaunchSubscribers
(4) 回到步骤(2),进行系统循环,订阅主题的消息处理开始。
阅读的代码是2017年12月27日GitHub下载的代码。
Cartographer中图优化存在2个部分:局部优化和全局优化
定义:扫描、子图