利用turtlebot 的导航配置文件
由于movbase发的速度太不友好了所以使用了ros自带的滤波安装相应的包
apt-get install ros-indigo-yocs-velocity-smoother
我的配置文件 standalone.yaml
# Example configuration: # - velocity limits are around a 10% above the physical limits # - acceleration limits are just low enough to avoid jerking # Mandatory parameters speed_lim_v: 0.8 speed_lim_w: 5.4 accel_lim_v: 0.3 accel_lim_w: 3.5 # Optional parameters frequency: 20.0 decel_factor: 1.0 # Robot velocity feedback type: # 0 - none # 1 - odometry # 2 - end robot commands robot_feedback: 2
我机器人的启动文件
<launch>
<param name="use_sim_time" value="false" />
<node name="link_laser" pkg="tf" type="static_transform_publisher" args="0.15 0 0.15 0 0 0 base_link laser 50"/>
<node name="link_footprint" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 50"/>
<node pkg="odom_tf_package" type="base_controller" name="serial_send_recevice" output="screen"/>
<include file="$(find odom_tf_package)/launch/include/rplidar.launch" />
<arg name="node_name" value="velocity_smoother"/>
<arg name="nodelet_manager_name" value="nodelet_manager"/>
<arg name="config_file" value="$(find odom_tf_package)/config/standalone.yaml"/>
<arg name="raw_cmd_vel_topic" value="cmd_vel"/>
<arg name="smooth_cmd_vel_topic" value="smoother_cmd_vel"/>
<arg name="robot_cmd_vel_topic" value="robot_cmd_vel"/>
<arg name="odom_topic" value="odom"/>
<!-- nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
<!-- velocity smoother -->
<include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
<arg name="node_name" value="$(arg node_name)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="config_file" value="$(arg config_file)"/>
<arg name="raw_cmd_vel_topic" value="$(arg raw_cmd_vel_topic)"/>
<arg name="smooth_cmd_vel_topic" value="$(arg smooth_cmd_vel_topic)"/>
<arg name="robot_cmd_vel_topic" value="$(arg robot_cmd_vel_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
</include>
</launch>
建图的启动文件：gmapping.launch
<launch>
<arg name="scan_topic" default="scan" /> //laser的topic名称，与自己的激光的topic相对应
<param name="odom_frame" value="odom"/> //世界坐标
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true"> //启动slam的节点
<param name="map_update_interval" value="2.0"/>
<!-- Set maxUrange < actual maximum range of the Laser -->
<param name="maxRange" value="5.0"/>
<param name="maxUrange" value="4.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/> //optimize机器人移动的初始值（距离）
<param name="astep" value="0.05"/> //optimize机器人移动的初始值（角度）
<param name="iterations" value="5"/> //icp的迭代次数
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/> //为0,表示所有的激光都处理，尽可能为零，如果计算压力过大，可以改成1
<param name="srr" value="0.01"/> //以下四个参数是运动模型的噪声参数
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.5"/> //机器人移动linearUpdate距离，进行scanmatch
<param name="angularUpdate" value="0.5"/> //机器人选装angularUpdate角度，进行scanmatch
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="80"/> //很重要，粒子个数
<!--
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
make the starting size small for the benefit of the Android client‘s memory...
-->
<param name="xmin" value="-1.0"/> //map初始化的大小
<param name="ymin" value="-1.0"/>
<param name="xmax" value="1.0"/>
<param name="ymax" value="1.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
导航启动文件：tb_demo_amcl.launch
<launch> <param name="use_sim_time" value="false" /> <!-- EDIT THIS LINE TO REFLECT THE NAME OF YOUR OWN MAP FILE Can also be overridden on the command line --> <arg name="map" default="map.yaml" /> <!-- Run the map server with the desired map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_tutorials)/maps/$(arg map)"/> <!-- Start move_base --> <include file="$(find navigation_tutorials)/launch/tb_move_base.launch" /> <!-- Fire up AMCL --> <include file="$(find navigation_tutorials)/launch/tb_amcl.launch" /> </launch>
tb_move_base.launch
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<rosparam file="$(find rbx1_nav)/config/turtlebot/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rbx1_nav)/config/turtlebot/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rbx1_nav)/config/turtlebot/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rbx1_nav)/config/turtlebot/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rbx1_nav)/config/turtlebot/base_local_planner_params.yaml" command="load" />
</node>
</launch>
tb_amcl.launch
<launch>
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="scan"/>
<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.25"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance" value="1.0"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
base_local_planner_params.yaml
controller_frequency: 3.0 recovery_behavior_enabled: false clearing_rotation_allowed: false TrajectoryPlannerROS: max_vel_x: 0.3 min_vel_x: 0.05 max_vel_y: 0.0 # zero for a differential drive robot min_vel_y: 0.0 min_in_place_vel_theta: 0.5 escape_vel: -0.1 acc_lim_x: 2.5 acc_lim_y: 0.0 # zero for a differential drive robot acc_lim_theta: 3.2 holonomic_robot: false yaw_goal_tolerance: 0.1 # about 6 degrees xy_goal_tolerance: 0.15 # 10 cm latch_xy_goal_tolerance: false pdist_scale: 0.8 gdist_scale: 0.6 meter_scoring: true heading_lookahead: 0.325 heading_scoring: false heading_scoring_timestep: 0.8 occdist_scale: 0.1 oscillation_reset_dist: 0.05 publish_cost_grid_pc: false prune_plan: true sim_time: 1.0 sim_granularity: 0.025 angular_sim_granularity: 0.025 vx_samples: 8 vy_samples: 0 # zero for a differential drive robot vtheta_samples: 20 dwa: true simple_attractor: false
costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.165
inflation_radius: 0.3
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}
global_costmap_params.yaml
global_costmap: global_frame: /map robot_base_frame: /base_footprint update_frequency: 1.0 publish_frequency: 0 static_map: true rolling_window: false resolution: 0.01 transform_tolerance: 1.0 map_type: costmap
local_costmap_params.yaml
local_costmap: global_frame: /odom robot_base_frame: /base_footprint update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.01 transform_tolerance: 1.0 map_type: costmap
把原先建好的图map.pgm map.yaml 放在功能包/maps/下
roslaunch odom_tf_package start.launch 机器人启动文件 roscat navigation_tutorials tb_demo_amcl.launch 导航文件 roslaunch navigation_tutorials rviz.launc rviz启动文件
时间： 2024-08-08 14:46:46