turtlebot2利用turtlebot_exploration

安装octomap_ros和rviz插件

sudo apt-get install ros-indigo-octomap*

源码安装：turtlebot_exploration_3d(本机为Ubuntu16对应的ros版本为kinetic，但是无对应的版本，用的是ubuntu14的indigo，版本向前兼容，故可以运行）

cd turtlebot_ws/src
git clone https://github.com/RobustFieldAutonomyLab/turtlebot_exploration_3d.git
catkin_make

deb包安装：

sudo apt-get update
sudo apt-get install ros-indigo-turtlebot-exploration-3d

运行：

主机端，新终端，执行：

$ roslaunch turtlebot_exploration_3d minimal_explo.launch
$ roslaunch turtlebot_exploration_3d turtlebot_gmapping.launch
$ rosrun turtlebot_exploration_3d turtlebot_exploration_3d

从机端，新终端，执行：

roslaunch turtlebot_exploration_3d exploration_rviz.launch

对应的脚本信息如下：

minimal_explo.launch：

<launch><!-- Turtlebot --><arg name="base"             default="$(env TURTLEBOT_BASE)"/>  <!-- create, roomba --><arg name="battery"          default="$(env TURTLEBOT_BATTERY)"/>  <!-- /proc/acpi/battery/BAT0 in 2.6 or earlier kernels--><arg name="stacks"           default="$(env TURTLEBOT_STACKS)"/>  <!-- circles, hexagons --><arg name="3d_sensor"        default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- kinect, asus_xtion_pro --><arg name="simulation"       default="$(env TURTLEBOT_SIMULATION)"/><arg name="serialport"       default="$(env TURTLEBOT_SERIAL_PORT)"/> <!-- /dev/ttyUSB0, /dev/ttyS0 --><arg name="robot_name"       default="$(env TURTLEBOT_NAME)"/><arg name="robot_type"       default="$(env TURTLEBOT_TYPE)"/><param name="/use_sim_time" value="$(arg simulation)"/><include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml"><arg name="base" value="$(arg base)" /><arg name="stacks" value="$(arg stacks)" /><arg name="3d_sensor" value="$(arg 3d_sensor)" /></include><include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml"><arg name="base" value="$(arg base)" /><arg name="serialport" value="$(arg serialport)" /></include><include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml"><arg name="battery" value="$(arg battery)" /></include><!-- Rapp Manager --> <arg name="auto_rapp_installation"            default="false"/> <!-- http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation --><arg name="auto_start_rapp"                   default=""/> <!-- autostart a rapp, e.g. rocon_apps/talker --><arg name="rapp_package_whitelist"            default="$(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)"/> <!-- comma separated list of package names --><arg name="rapp_package_blacklist"            default="$(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)"/><arg name="robot_icon"                        default="turtlebot_bringup/turtlebot2.png"/><arg name="screen"                            default="true"/> <!-- verbose output from running apps --><!-- ***************************** Rocon Master Info ************************** --><arg name="robot_description"                 default="Kick-ass ROS turtle"/><!-- Capabilities --> <arg name="capabilities"                      default="true"/> <!-- enable/disable a capability server --><arg name="capabilities_server_name"          default="capability_server"/><arg name="capabilities_nodelet_manager_name" default="capability_server_nodelet_manager" /><arg name="capabilities_parameters"           default="$(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml" /> <!-- defaults_tb.yaml, defaults_tb2.yaml --><arg name="capabilities_package_whitelist"    default="[kobuki_capabilities, std_capabilities, turtlebot_capabilities]" /> <!-- get capabilities from these packages only --><arg name="capabilities_blacklist"            default="['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']" /> <!-- blacklist specific capabilities --><!-- Interactions --> <arg name="interactions"      default="true"/><arg name="interactions_list" default="$(optenv INTERACTIONS_LIST [turtlebot_bringup/admin.interactions, turtlebot_bringup/documentation.interactions, turtlebot_bringup/pairing.interactions])"/><!-- Zeroconf --><arg name="zeroconf"                          default="true"/><arg name="zeroconf_name"                     default="$(arg robot_name)"/><arg name="zeroconf_port"                     default="11311"/><!-- Rapp Manager --><include file="$(find rocon_app_manager)/launch/standalone.launch"><!-- Rapp Manager --> <arg name="robot_name"                        value="$(arg robot_name)" /><arg name="robot_type"                        value="$(arg robot_type)" /><arg name="robot_icon"                        value="$(arg robot_icon)" /><arg name="rapp_package_whitelist"            value="$(arg rapp_package_whitelist)" /><arg name="rapp_package_blacklist"            value="$(arg rapp_package_blacklist)" /><arg name="auto_start_rapp"                   value="$(arg auto_start_rapp)" /><arg name="screen"                            value="$(arg screen)" /><arg name="auto_rapp_installation"            value="$(arg auto_rapp_installation)" /><!-- Rocon Master Info --><arg name="robot_description"                 value="$(arg robot_description)" /><!-- Capabilities --> <arg name="capabilities"                      value="$(arg capabilities)" /><arg name="capabilities_blacklist"            value="$(arg capabilities_blacklist)" /><arg name="capabilities_nodelet_manager_name" value="$(arg capabilities_nodelet_manager_name)" /><arg name="capabilities_server_name"          value="$(arg capabilities_server_name)" /><arg name="capabilities_package_whitelist"    value="$(arg capabilities_package_whitelist)" /><arg name="capabilities_parameters"           value="$(arg capabilities_parameters)" /><!-- Interactions --> <arg name="interactions"                      value="$(arg interactions)"/><arg name="interactions_list"                 value="$(arg interactions_list)"/><!-- Zeroconf --> <arg name="zeroconf"                          value="$(arg zeroconf)"/><arg name="zeroconf_name"                     value="$(arg zeroconf_name)"/><arg name="zeroconf_port"                     value="$(arg zeroconf_port)"/></include></launch>

turtlebot_gmapping.launch：

<launch>
<!--   <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo" />--><include file="$(find turtlebot_bringup)/launch/3dsensor.launch"><!--  <arg name="rgb_processing" value="true" /><arg name="depth_registration" value="true" /><arg name="depth_processing" value="true" /><arg name="scan_processing" value="true" />           --><!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 --> <arg name="scan_topic" value="/scan_kinect" /></include><node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser" args="0 0 0.35 0 0 0 base_footprint laser 50" /><arg name="scan_topic"  default="scan_kinect" /><arg name="base_frame"  default="base_footprint"/><arg name="odom_frame"  default="odom"/><node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen"><param name="scan_topic" value="$(arg scan_topic)"/><param name="base_frame" value="$(arg base_frame)"/><param name="odom_frame" value="$(arg odom_frame)"/><param name="map_update_interval" value="5.0"/><param name="maxUrange" value="7.9"/><param name="maxRange" value="8.0"/><param name="sigma" value="0.05"/><param name="kernelSize" value="1"/><param name="lstep" value="0.05"/><param name="astep" value="0.05"/><param name="iterations" value="5"/><param name="lsigma" value="0.075"/><param name="ogain" value="3.0"/><param name="lskip" value="0"/><param name="minimumScore" value="200"/><param name="srr" value="0.01"/><param name="srt" value="0.02"/><param name="str" value="0.01"/><param name="stt" value="0.02"/><param name="linearUpdate" value="0.5"/><param name="angularUpdate" value="0.436"/><param name="temporalUpdate" value="-1.0"/><param name="resampleThreshold" value="0.5"/><param name="particles" value="80"/><!--<param name="xmin" value="-50.0"/><param name="ymin" value="-50.0"/><param name="xmax" value="50.0"/><param name="ymax" value="50.0"/>make the starting size small for the benefit of the Android client's memory...--><param name="xmin" value="-1.0"/><param name="ymin" value="-1.0"/><param name="xmax" value="1.0"/><param name="ymax" value="1.0"/><param name="delta" value="0.01"/><param name="llsamplerange" value="0.01"/><param name="llsamplestep" value="0.01"/><param name="lasamplerange" value="0.005"/><param name="lasamplestep" value="0.005"/><remap from="scan" to="$(arg scan_topic)"/></node><include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/><node pkg="turtlebot_exploration_3d" type="scan_to_pcl" name="scan_to_pcl" /></launch>

turtlebot_exploration_3d.cpp：

// Related headers:
#include "exploration.h"
#include "navigation_utils.h"
#include "gpregressor.h"
#include "covMaterniso3.h"//C library headers:
#include <iostream>
#include <fstream>
// #include <chrono>
// #include <iterator>
// #include <ctime>//C++ library headers:  NONE
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>//other library headers:  NONEusing namespace std;int main(int argc, char **argv) {ros::init(argc, argv, "turtlebot_exploration_3d");ros::NodeHandle nh;// Initialize timetime_t rawtime;struct tm * timeinfo;char buffer[80];time (&rawtime);timeinfo = localtime(&rawtime);// strftime(buffer,80,"Trajectory_%R_%S_%m%d_DA.txt",timeinfo);// std::string logfilename(buffer);// std::cout << logfilename << endl;strftime(buffer,80,"Octomap3D_%m%d_%R_%S.ot",timeinfo);octomap_name_3d = buffer;ros::Subscriber kinect_sub = nh.subscribe<sensor_msgs::PointCloud2>("/camera/depth_registered/points", 1, kinectCallbacks);// need to change##########ros::Publisher GoalMarker_pub = nh.advertise<visualization_msgs::Marker>( "Goal_Marker", 1 );ros::Publisher Candidates_pub = nh.advertise<visualization_msgs::MarkerArray>("Candidate_MIs", 1);ros::Publisher Frontier_points_pub = nh.advertise<visualization_msgs::Marker>("Frontier_points", 1);ros::Publisher pub_twist = nh.advertise<geometry_msgs::Twist>("/cmd_vel_mux/input/teleop", 1);ros::Publisher Octomap_pub = nh.advertise<octomap_msgs::Octomap>("octomap_3d",1);tf_listener = new tf::TransformListener();tf::StampedTransform transform;tf::Quaternion Goal_heading; // robot's heading directionvisualization_msgs::MarkerArray CandidatesMarker_array;visualization_msgs::Marker Frontier_points_cubelist;geometry_msgs::Twist twist_cmd;ros::Time now_marker = ros::Time::now();// Initialize parameters int max_idx = 0;point3d Sensor_PrincipalAxis(1, 0, 0);octomap::OcTreeNode *n;octomap::OcTree new_tree(octo_reso);octomap::OcTree new_tree_2d(octo_reso);cur_tree = &new_tree;cur_tree_2d = &new_tree_2d;point3d next_vp;bool got_tf = false;bool arrived;// Update the initial location of the robotfor(int i =0; i < 6; i++){// Update the pose of the robotgot_tf = false;while(!got_tf){try{tf_listener->lookupTransform("/map", "/camera_rgb_frame", ros::Time(0), transform);// need to change tf of kinect###############kinect_orig = point3d(transform.getOrigin().x(), transform.getOrigin().y(), transform.getOrigin().z());got_tf = true;}catch (tf::TransformException ex) {ROS_WARN("Wait for tf: Kinect frame"); } ros::Duration(0.05).sleep();}// Take a Scanros::spinOnce();// Rotate another 60 degreestwist_cmd.linear.x = twist_cmd.linear.y = twist_cmd.angular.z = 0;ros::Time start_turn = ros::Time::now();ROS_WARN("Rotate 60 degrees");while (ros::Time::now() - start_turn < ros::Duration(2.6)){ // turning duration - secondtwist_cmd.angular.z = 0.6; // turning speed// turning angle = turning speed * turning duration / 3.14 * 180pub_twist.publish(twist_cmd);ros::Duration(0.05).sleep();}// stoptwist_cmd.angular.z = 0;pub_twist.publish(twist_cmd);}// steps robot taken, counterint robot_step_counter = 0;while (ros::ok()){vector<vector<point3d>> frontier_groups=extractFrontierPoints(cur_tree);//frontier_groups.clear();//in the next lineunsigned long int o = 0;for(vector<vector<point3d>>::size_type e = 0; e < frontier_groups.size(); e++) {o = o+frontier_groups[e].size();}Frontier_points_cubelist.points.resize(o);ROS_INFO("frontier points %ld", o);now_marker = ros::Time::now();Frontier_points_cubelist.header.frame_id = "map";Frontier_points_cubelist.header.stamp = now_marker;Frontier_points_cubelist.ns = "frontier_points_array";Frontier_points_cubelist.id = 0;Frontier_points_cubelist.type = visualization_msgs::Marker::CUBE_LIST;Frontier_points_cubelist.action = visualization_msgs::Marker::ADD;Frontier_points_cubelist.scale.x = octo_reso;Frontier_points_cubelist.scale.y = octo_reso;Frontier_points_cubelist.scale.z = octo_reso;Frontier_points_cubelist.color.a = 1.0;Frontier_points_cubelist.color.r = (double)255/255;Frontier_points_cubelist.color.g = 0;Frontier_points_cubelist.color.b = (double)0/255;Frontier_points_cubelist.lifetime = ros::Duration();unsigned long int t = 0;int l = 0;geometry_msgs::Point q;for(vector<vector<point3d>>::size_type n = 0; n < frontier_groups.size(); n++) { for(vector<point3d>::size_type m = 0; m < frontier_groups[n].size(); m++){q.x = frontier_groups[n][m].x();q.y = frontier_groups[n][m].y();q.z = frontier_groups[n][m].z()+octo_reso;Frontier_points_cubelist.points.push_back(q); }t++;}ROS_INFO("Publishing %ld frontier_groups", t);Frontier_points_pub.publish(Frontier_points_cubelist); //publish frontier_pointsFrontier_points_cubelist.points.clear();           // Generate Candidatesvector<pair<point3d, point3d>> candidates = extractCandidateViewPoints(frontier_groups, kinect_orig, num_of_samples); std::random_shuffle(candidates.begin(),candidates.end()); // shuffle to select a subsetvector<pair<point3d, point3d>> gp_test_poses = candidates;ROS_INFO("Candidate View Points: %luGenereated, %d evaluating...", candidates.size(), num_of_samples_eva);int temp_size = candidates.size()-3;if (temp_size < 1) {ROS_ERROR("Very few candidates generated, maybe finishing with exploration...");nh.shutdown();return 0;}// Generate Testing posescandidates.resize(min(num_of_samples_eva,temp_size));frontier_groups.clear();// Evaluate MI for every candidate view pointsvector<double>  MIs(candidates.size());double before = countFreeVolume(cur_tree);// int max_idx = 0;double begin_mi_eva_secs, end_mi_eva_secs;begin_mi_eva_secs = ros::Time::now().toSec();#pragma omp parallel forfor(int i = 0; i < candidates.size(); i++) {auto c = candidates[i];// Evaluate Mutual InformationSensor_PrincipalAxis = point3d(1.0, 0.0, 0.0);Sensor_PrincipalAxis.rotate_IP(c.second.roll(), c.second.pitch(), c.second.yaw() );octomap::Pointcloud hits = castSensorRays(cur_tree, c.first, Sensor_PrincipalAxis);// Considering pure MI for decision makingMIs[i] = calc_MI(cur_tree, c.first, hits, before);// Normalize the MI with distance// MIs[i] = calc_MI(cur_tree, c.first, hits, before) / //     sqrt(pow(c.first.x()-kinect_orig.x(),2) + pow(c.first.y()-kinect_orig.y(),2));// Pick the Candidate view point with max MI// if (MIs[i] > MIs[max_idx])// {//     max_idx = i;// }}// Bayesian Optimization for actively selecting candidatedouble train_time, test_time;GPRegressor g(100, 3, 0.01);for (int bay_itr = 0; bay_itr < num_of_bay; bay_itr++) {//Initialize gp regressionMatrixXf gp_train_x(candidates.size(), 2), gp_train_label(candidates.size(), 1), gp_test_x(gp_test_poses.size(), 2);for (int i=0; i< candidates.size(); i++){gp_train_x(i,0) = candidates[i].first.x();gp_train_x(i,1) = candidates[i].first.y();gp_train_label(i) = MIs[i];}for (int i=0; i< gp_test_poses.size(); i++){gp_test_x(i,0) = gp_test_poses[i].first.x();gp_test_x(i,1) = gp_test_poses[i].first.y();}// Perform GP regressionMatrixXf gp_mean_MI, gp_var_MI;train_time = ros::Time::now().toSec();g.train(gp_train_x, gp_train_label);train_time = ros::Time::now().toSec() - train_time;test_time = ros::Time::now().toSec();g.test(gp_test_x, gp_mean_MI, gp_var_MI);test_time = ros::Time::now().toSec() - test_time;ROS_INFO("GP: Train(%zd) took %f secs , Test(%zd) took %f secs", candidates.size(), train_time, gp_test_poses.size(), test_time);        // Get Acquisition functiondouble beta = 2.4;vector<double>  bay_acq_fun(gp_test_poses.size());for (int i = 0; i < gp_test_poses.size(); i++) {bay_acq_fun[i] = gp_mean_MI(i) + beta*gp_var_MI(i);}vector<int> idx_acq = sort_MIs(bay_acq_fun);// evaluate MI, add to the candidateauto c = gp_test_poses[idx_acq[0]];Sensor_PrincipalAxis = point3d(1.0, 0.0, 0.0);Sensor_PrincipalAxis.rotate_IP(c.second.roll(), c.second.pitch(), c.second.yaw() );octomap::Pointcloud hits = castSensorRays(cur_tree, c.first, Sensor_PrincipalAxis);candidates.push_back(c);MIs.push_back(calc_MI(cur_tree, c.first, hits, before));}end_mi_eva_secs = ros::Time::now().toSec();ROS_INFO("Mutual Infomation Eva took:  %3.3f Secs.", end_mi_eva_secs - begin_mi_eva_secs);// Normalize the MI with distancefor(int i = 0; i < candidates.size(); i++) {auto c = candidates[i];MIs[i] = MIs[i] / sqrt(pow(c.first.x()-kinect_orig.x(),2) + pow(c.first.y()-kinect_orig.y(),2));}// sort vector MIs, with idx_MI, descendingvector<int> idx_MI = sort_MIs(MIs);// Publish the candidates as marker array in rviztf::Quaternion MI_heading;MI_heading.setRPY(0.0, -PI/2, 0.0);MI_heading.normalize();CandidatesMarker_array.markers.resize(candidates.size());for (int i = 0; i < candidates.size(); i++){CandidatesMarker_array.markers[i].header.frame_id = "map";CandidatesMarker_array.markers[i].header.stamp = ros::Time::now();CandidatesMarker_array.markers[i].ns = "candidates";CandidatesMarker_array.markers[i].id = i;CandidatesMarker_array.markers[i].type = visualization_msgs::Marker::ARROW;CandidatesMarker_array.markers[i].action = visualization_msgs::Marker::ADD;CandidatesMarker_array.markers[i].pose.position.x = candidates[i].first.x();CandidatesMarker_array.markers[i].pose.position.y = candidates[i].first.y();CandidatesMarker_array.markers[i].pose.position.z = candidates[i].first.z();CandidatesMarker_array.markers[i].pose.orientation.x = MI_heading.x();CandidatesMarker_array.markers[i].pose.orientation.y = MI_heading.y();CandidatesMarker_array.markers[i].pose.orientation.z = MI_heading.z();CandidatesMarker_array.markers[i].pose.orientation.w = MI_heading.w();CandidatesMarker_array.markers[i].scale.x = (double)2.0*MIs[i]/MIs[idx_MI[0]];CandidatesMarker_array.markers[i].scale.y = 0.2;CandidatesMarker_array.markers[i].scale.z = 0.2;CandidatesMarker_array.markers[i].color.a = (double)MIs[i]/MIs[idx_MI[0]];CandidatesMarker_array.markers[i].color.r = 0.0;CandidatesMarker_array.markers[i].color.g = 1.0;CandidatesMarker_array.markers[i].color.b = 0.0;}Candidates_pub.publish(CandidatesMarker_array);CandidatesMarker_array.markers.clear();candidates.clear();// loop in the idx_MI, if the candidate with max MI cannot be achieved, // switch to a sub-optimal MI.arrived = false;int idx_ptr = 0;while (!arrived) {// Setup the Goalnext_vp = point3d(candidates[idx_MI[idx_ptr]].first.x(),candidates[idx_MI[idx_ptr]].first.y(),candidates[idx_MI[idx_ptr]].first.z());Goal_heading.setRPY(0.0, 0.0, candidates[idx_MI[idx_ptr]].second.yaw());Goal_heading.normalize();ROS_INFO("Max MI : %f , @ location: %3.2f  %3.2f  %3.2f", MIs[idx_MI[idx_ptr]], next_vp.x(), next_vp.y(), next_vp.z() );// Publish the goal as a Marker in rvizvisualization_msgs::Marker marker;marker.header.frame_id = "map";marker.header.stamp = ros::Time();marker.ns = "goal_marker";marker.id = 0;marker.type = visualization_msgs::Marker::ARROW;marker.action = visualization_msgs::Marker::ADD;marker.pose.position.x = next_vp.x();marker.pose.position.y = next_vp.y();marker.pose.position.z = 1.0;marker.pose.orientation.x = Goal_heading.x();marker.pose.orientation.y = Goal_heading.y();marker.pose.orientation.z = Goal_heading.z();marker.pose.orientation.w = Goal_heading.w();marker.scale.x = 0.5;marker.scale.y = 0.1;marker.scale.z = 0.1;marker.color.a = 1.0; // Don't forget to set the alpha!marker.color.r = 1.0;marker.color.g = 1.0;marker.color.b = 0.0;GoalMarker_pub.publish( marker );// Send the Robot arrived = goToDest(next_vp, Goal_heading);if(arrived){// Update the initial location of the robotgot_tf = false;while(!got_tf){try{tf_listener->lookupTransform("/map", "/camera_rgb_frame", ros::Time(0), transform);// need to change tf of kinect###############kinect_orig = point3d(transform.getOrigin().x(), transform.getOrigin().y(), transform.getOrigin().z());got_tf = true;}catch (tf::TransformException ex) {ROS_WARN("Wait for tf: Kinect frame"); } ros::Duration(0.05).sleep();}// Update Octomapros::spinOnce();ROS_INFO("Succeed, new Map Free Volume: %f", countFreeVolume(cur_tree));robot_step_counter++;// prepare octomap msgoctomap_msgs::binaryMapToMsg(*cur_tree, msg_octomap);msg_octomap.binary = 1;msg_octomap.id = 1;msg_octomap.resolution = octo_reso;msg_octomap.header.frame_id = "/map";msg_octomap.header.stamp = ros::Time::now();Octomap_pub.publish(msg_octomap);ROS_INFO("Octomap updated in RVIZ");// // Send out results to file.// explo_log_file.open(logfilename, std::ofstream::out | std::ofstream::app);// explo_log_file << "DA Step ," << robot_step_counter << ", Current Entropy ," << countFreeVolume(cur_tree) << ", time, " << ros::Time::now().toSec() << endl;// explo_log_file.close();}else{ROS_WARN("Failed to drive to the %d th goal, switch to the sub-optimal..", idx_ptr);idx_ptr++;if(idx_ptr > MIs.size()) {ROS_ERROR("None of the goal is valid for path planning, shuting down the node");nh.shutdown();}}}// r.sleep();}nh.shutdown();          return 0;
}

exploration_rviz.launch：

<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_exploration_3d)/launch/turtlebot_explo.rviz" /></launch>

自动建图进行会比较慢，会显示octomap图，同时也实现了gmapping的建图

image: /home/ubuntu/map/zhizaokongjian.pgm
resolution: 0.050000
origin: [-12.200000, -12.200000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

image:   含占用信息的image文件的路径；可以是绝对路径，也可以是到YAML文件的相对路径。
resolution：地图的分辨率，meters/pixel
origin: 机器人相对地图原点的位姿，(x,y,yaw)，yaw逆时针旋转(yaw=0表示没有旋转)。
occupied_thresh：单元占用的概率大于这个阈值则认为完全占用。
free_thresh: 单元占用的概率小于这个阈值则认为完全自由。
negate: 不论白色/黑色，自由/占用，semantics(语义/符号)应该被反转（阈值的解释不受影响）。

保存地图：
新建目录：
```
mkdir ~/map
```
保存地图：
```
rosrun map_server map_saver -f ~/map1
```
得到两个文件如下：
- map1.pgm 地图
- map1.yaml 配置
map1.yaml样例：
必填的字节：

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