ROS2 Turtlebot3 Gazebo で cartographer の SLAM を試してみた。

実機を、Gazebo Turtlebot3 に替えればそのまんま動く。

ただ、わかりやすい様に、cartographer.launch.py を修正した。
起動手順は、下記ファイルの上部に記載してあるので、それを参考にすれば、OK
turtlebot3/turtlebot3_cartographer/launch/cartographer.launch.py
# Copyright 2019 Open Source Robotics Foundation, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # # Author: Darby Lim # # 1. build # $ colcon build --symlink-install --parallel-workers 1 --packages-select turtlebot3_cartographer # $ . install/setup.bash # # 2. run # term #1 # 1. Gazebo for 11 # 1.1 turtlebot3 を使う # $ export TURTLEBOT3_MODEL=waffle # $ export ROBOT_MODEL=turtlebot3 # $ ros2 launch turtlebot3_gazebo warehouse.launch.py # # term #2 # $ export ROBOT_MODEL=turtlebot3 # $ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true SBC:=true # 3. rviz # $ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true PC:=true # # 4 robot control #2 on SBC or Remote PC # 1) Teleop keyboard # $ ros2 run turtlebot3_teleop teleop_keyboard # import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch_ros.actions import Node from launch.substitutions import LaunchConfiguration from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ThisLaunchFileDir # add by nishi from launch.conditions import IfCondition, UnlessCondition from launch.actions import GroupAction from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PythonExpression def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='false') turtlebot3_cartographer_prefix = get_package_share_directory('turtlebot3_cartographer') cartographer_config_dir = LaunchConfiguration('cartographer_config_dir', default=os.path.join( turtlebot3_cartographer_prefix, 'config')) configuration_basename = LaunchConfiguration('configuration_basename', default='turtlebot3_lds_2d.lua') resolution = LaunchConfiguration('resolution', default='0.05') publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0') rviz_config_dir = os.path.join(get_package_share_directory('turtlebot3_cartographer'), 'rviz', 'tb3_cartographer.rviz') return LaunchDescription([ DeclareLaunchArgument( 'cartographer_config_dir', default_value=cartographer_config_dir, description='Full path to config file to load'), DeclareLaunchArgument( 'configuration_basename', default_value=configuration_basename, description='Name of lua file for cartographer'), DeclareLaunchArgument( 'use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'), DeclareLaunchArgument('rviz2',default_value='false', description='Launch RVIZ2 (optional).'), DeclareLaunchArgument('SBC',default_value='false', description='Launch SBC (optional).'), DeclareLaunchArgument('PC',default_value='false', description='Launch SBC (optional).'), DeclareLaunchArgument( 'resolution', default_value=resolution, description='Resolution of a grid cell in the published occupancy grid'), DeclareLaunchArgument( 'publish_period_sec', default_value=publish_period_sec, description='OccupancyGrid publishing period'), GroupAction( [ Node( package='cartographer_ros', executable='cartographer_node', name='cartographer_node', output='screen', parameters=[{'use_sim_time': use_sim_time}], arguments=['-configuration_directory', cartographer_config_dir, '-configuration_basename', configuration_basename]), IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/occupancy_grid.launch.py']), launch_arguments={'use_sim_time': use_sim_time, 'resolution': resolution, 'publish_period_sec': publish_period_sec}.items(), ), ], condition=IfCondition(LaunchConfiguration('SBC')), ), Node( package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_config_dir], parameters=[{'use_sim_time': use_sim_time}], output='screen', condition=IfCondition(LaunchConfiguration('PC')), ), ])

turtlebot3/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua も一部修正した。
... TRAJECTORY_BUILDER_2D.min_range = 0.12 -- TRAJECTORY_BUILDER_2D.max_range = 3.5 -- chnaged by nishi 2025.10.17 TRAJECTORY_BUILDER_2D.max_range = 7.5 ...

TRAJECTORY_BUILDER_2D.max_range = 3.5 だと、Localization の 参照範囲が狭すぎて、ロボットがぶるぶる震える。

チューニング情報があった。
Algorithm walkthrough for tuning

2D と 3D の両方に対応しちょるみたいぞね!!