3dslam with 16 line lidar and octomap

The lab bought a 80 Line radar , Complimentary 16 Line radar , The teacher asked me to 16 Linear radar is used on robots , Lidar can be used for target detection and SLAM, Tests found , A batch of poor target detection results , So I looked for it 3DSLAM Methods , And make a record .

This article includes the following parts ：
1、 Hardware 、 The software is introduced
2、 Start lidar and get point cloud
3、 Use BLAM Get point cloud map
4、 Use octomap_server Get the octree map (octomap)
5、 Path planning and navigation

1、 Hardware 、 The software is introduced

Suteng juchuang rslidar16 Line radar 、ubuntu16.04、ros-kinetic

2、 Start lidar and get point cloud

Instructions for use will be included when purchasing lidar , Modify the configuration file and start the lidar with the following command ：

roslaunch rslidar_sdk start.launch

3、 Use BLAM Get point cloud map

Reference resources ：

https://www.ncnynl.com/archives/201806/2471.html
https://blog.csdn.net/xmy306538517/article/details/81122663

I recorded it in the lab first /rslidar_points Of bag, Offline created point cloud map /blam/blam_slam/octree_map.

Only in /rslidar_points When the news is released ,BLAM Will continue to publish the created point cloud map , Wait until recorded bag End of play , The point cloud map will not be published , This will be used later .

The point cloud map I generated is as follows ：

In the figure , The purple curve is the track of radar movement , Point cloud map is actually a multi frame point cloud mosaic , Similar map software splices multiple pictures into a panoramic map .

4、 Use octomap_server Get the octree map (octomap)

Reference resources ：

https://blog.csdn.net/sru_alo/article/details/85083030

Be careful ：

This step must be run simultaneously with the third step , Otherwise, you cannot subscribe to point cloud map .

I made octomap Here's the picture ：

The green part in the middle of the figure is due to , When recording radar point cloud , Two people have been following the robot , Lead to more human tracks in the map , So when it's actually used , Need remote control robot to build map , People who prevent movement are also built into the picture .

Use the following command to save the compressed binary storage format octomap Map ：

rosrun octomap_server octomap_saver name.bt

Save a complete probability octree map ：

rosrun octomap_server octomap_saver -f name.ot

Save a 2D grid map ：

rosrun map_server map_saver map:=/projected_map -f mapname

Install the octree visualizer octovis To view the map ：

sudo apt-get install octovis

Restart the terminal after installation , Use the following command to display an octree map ：

octovis name.ot[bt]

Here's the picture ：

The discrete points outside are caused by the light transmission of the glass .

5、 Path planning and navigation

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