完善launch文件，实现SLAM功能#3238
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donghaiwang
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Dec 15, 2025
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修改概述: 完善launch文件，实现SLAM功能
修改的详细描述
添加 pointcloud_to_laserscan 节点，将CARLA激光雷达的PointCloud2数据转换为LaserScan格式
配置转换参数：高度范围、角度范围、扫描频率等
解决CARLA原生激光雷达与gmapping数据类型不兼容问题
配置 slam_gmapping 节点，实现实时2D SLAM建图
设置地图参数：分辨率(0.05m)、更新频率、扫描范围(50m)
配置坐标系变换：base_frame、odom_frame、map_frame
修正激光雷达话题映射：从 /carla/ego_vehicle/lidar/front/scan 改为 /carla/ego_vehicle/lidar
更新TF静态发布器，正确发布base_link到激光雷达的坐标变换
添加点云转换后的scan话题：/carla/ego_vehicle/scan
调整各节点启动延迟，确保依赖关系正确
CARLA ROS Bridge → Spawn Objects → Manual Control → PointCloud转换 → Gmapping
解决Python 3.13与CARLA 0.9.15不兼容问题（需使用Python 3.8环境）
配置PYTHONPATH以正确加载CARLA Python API
修复同步模式下传感器数据发布问题
经过了什么样的测试?
✅ CARLA与ROS Bridge连接测试
验证CARLA服务器正常运行（端口2000监听）
确认ROS Bridge成功连接并发布话题
✅ 传感器数据流测试
验证激光雷达数据发布频率：20 Hz
验证里程计数据发布频率：20 Hz
验证相机数据发布频率：20 Hz
验证时钟同步：20 Hz
✅ 点云转换功能测试
输入：/carla/ego_vehicle/lidar (PointCloud2格式)
输出：/carla/ego_vehicle/scan (LaserScan格式，20 Hz)
转换参数验证：角度范围(-π ~ π)，距离范围(0.5m ~ 100m)
✅ SLAM建图功能测试
地图话题更新频率：0.5-2 Hz (正常)
手动控制车辆移动，实时观察地图生成
测试场景：CARLA Town01，覆盖道路、交叉路口、建筑区域
✅ RViz可视化测试
LaserScan点云实时显示（红色点云）
2D栅格地图实时更新（灰白色地图）
坐标系TF树正确显示
运行效果
动图、视频、截图等
Peek.2025-12-15.09-58.mp4