Enable 2D lidar SLAM with cartographer_ros - Qualcomm Dragonwing Documentation

The 2D lidar SLAM sample application is based on Cartographer, which is capable of completing indoor map construction and localization based on 2D lidar sensors. It’s suitable for indoor navigation of robots.

Figure: Sample results of 2D lidar SLAM

Pipeline flow for `2D lidar SLAM`

Figure: Pipeline flow for 2D lidar SLAM

ROS nodes used in the 2D lidar SLAM pipeline

ROS node	Description
`cartographer_node`	Receives `/scan` and `/odom` topics, executes mapping, localization, and saves the map or queries the relocation status. The node is based on the ROS service `qrb_slam_command`.
`cartographer_occupancy_grid_node`	Receives map-related topics sent by the `cartographer_node` and publishes a ROS standard map (`/static_map`).

ROS topics/services used in 2D lidar SLAM

Table: ROS topics used in 2D lidar SLAM

ROS topic	Type	Published by
`/tracked_pose`	`geometry_msgs.msg.PoseStamped`	`cartographer_node`
`/tf`	`tf2_msgs.msg.TFMessage`	`cartographer_node`
`/submap_list`	`cartographer_ros_msgs.msg.SubmapList`	`cartographer_node`
`/scan_matched_points2`	`sensor_msgs.msg.PointCloud2`	`cartographer_node`
`/map`	`nav_msgs.msg.OccupancyGrid`	`cartographer_occupancy_grid_node`

Table: ROS services used in in 2D lidar SLAM

ROS service	Type	Provided by
`/qrb_slam_command`	`qrb_ros_slam_msgs.srv.SlamCommand`	`cartographer_node`

Prerequisites

You have Set up the device according to Set up the environment for running sample applications.
Connect the power supply and USB port of RPLIDAR A3M1.

Run out-of-the-box `2D lidar SLAM`

Try me

Set up the robot base

Note The following configuration applies exclusively to Qualcomm’s robot base. If you are using a custom or third-party robot base, skip this configuration step and apply configurations appropriate to your own robot base.

Open a new terminal connect to the device.

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=124

Select the robot base model.
- 0604 AMR: robot_base (default)
- Mini AMR: robot_base_mini
export ROBOT_BASE_MODEL=robot_base_mini

(Optional) If you don’t connect the ultrasonic sensor to the MCB, disable ultrasound emergency stop.

vi /usr/ros/jazzy/share/qrb_ros_robot_base/config/[robot base model file]
# modify ultra_enable: false

Launch the robot base AMR.

ros2 launch qrb_ros_robot_base robot_base.launch.py

Set up the 2D lidar

In a new terminal, run the following commands.

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=124
ros2 launch rplidar_ros rplidar_a3_launch.py

Run the 2D lidar SLAM

In a new terminal, run the following commands.

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=124
ros2 launch cartographer_ros qrb_2d_lidar_slam.launch.py

Run the qrb_slam_service_request script

In a new terminal, run the following commands.

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=124
chmod 777 /usr/ros/jazzy/share/cartographer_ros/scripts/qrb_slam_service_request.sh
bash /usr/ros/jazzy/share/cartographer_ros/scripts/qrb_slam_service_request.sh

Start mapping

In the terminal opened in the preceding step, use the keyboard to send control commands, such as starting the mapping process.

​Pipeline flow for 2D lidar SLAM

​ROS nodes used in the 2D lidar SLAM pipeline

​ROS topics/services used in 2D lidar SLAM

​Prerequisites

​Run out-of-the-box 2D lidar SLAM

Pipeline flow for `2D lidar SLAM`

ROS nodes used in the 2D lidar SLAM pipeline

ROS topics/services used in 2D lidar SLAM

Prerequisites

Run out-of-the-box `2D lidar SLAM`