第六周

一些命令

1. 没接电控时模拟urdf的作用：

   ros2 run tf2_ros static_transform_publisher --frame-id base_link --child-frame-id imu_link --qx 0.0 --qw 1.0
   

2. 建图：

   ros2 launch sentry_bringup mapping.launch.py
   

   存好的图在运行存图命令的目录下

   • 存.png：

     ros2 run nav2_map_server map_saver_cli -t /projected_map -f test_map --fmt png
     

   • 存.pcd

     ros2 service call /map_save std_srvs/srv/Trigger
     

重新编译（清空以前的编译文件）：

colcon build --packages-select sentry_bringup --cmake-clean-cache

source install/setup.bash

build的时候加–symlink-install，改launch文件不用重新编译

查看容器ID：

docker ps -a

容器内外传递文件：

docker cp 4d3bc3433f4e:/home/sentry_ws/test.pcd /home/scurm/Downloads/

docker cp /home/scurm/Downloads/sentry_description 4d3bc3433f4e:/home/sentry_ws/src/sentry_description

---

关于fast-lio和fast-lio-sam

后续测试选一个效果好的用

1.改mapping.launch

• fast-lio：

  # fast-lio localization   
  fast_lio_param = '/home/sentry_ws/src/sentry_bringup/params/fast_lio_mapping_param.yaml'
  fast_lio_node = Node(
          package='fast_lio',
          executable='fastlio_mapping',
          parameters=[
          fast_lio_param
          ],
          output='screen',
          remappings=[('/Odometry','/state_estimation')]
      )
  

• fast-lio-sam：

  # fast-lio localization   
  fast_lio_sam_param = os.path.join(
      config_path, 'fast_lio_sam_mapping_param.yaml')
  fast_lio_sam_node = Node(
              package='fast_lio_sam',
              executable='fastlio_sam_mapping',
              name='fastlio_sam_mapping',
              output='screen',
              parameters=[fast_lio_sam_param],
              remappings=[('/Odometry','/state_estimation')]
  )
  

2.改delayed_start_mapping（也在mapping.launch里）：

• fast-lio

  delayed_start_mapping = TimerAction(
      period=8.0,
      actions= [
          fast_lio_node,
          start_octomap_server
      ]
  )
  

• fast-lio-sam

  delayed_start_mapping = TimerAction(
      period=8.0,
      actions= [
          fast_lio_sam_node,
          start_octomap_server
      ]
  )