Nav2极简笔记01-安装与试用

Posted 2021-09-10 zhangrelay

安装

功能包：

• ros-foxy-navigation2
• ros-foxy-nav2-bringup
• ros-foxy-turtlebot3*

推荐使用新立得，例如nav2的地图服务器：

图形化安装适合初学者入门！

 

选择需要的包下载安装即可。

源码编译：

github中navigation2，按照官网流程说明配置安装，文档更新较快，为避免误导，不再赘述。

ros@ros:~/RobCode/navigation2$ colcon build
Starting >>> nav2_common
Starting >>> nav_2d_msgs
Starting >>> nav2_gazebo_spawner
Finished <<< nav2_common [0.68s]                                   
Starting >>> nav2_msgs
Starting >>> nav2_voxel_grid
Finished <<< nav2_gazebo_spawner [0.72s]                         
Finished <<< nav_2d_msgs [14.3s]                                        
Starting >>> dwb_msgs
Finished <<< nav2_voxel_grid [33.6s]                                 
Finished <<< dwb_msgs [29.2s]                                        
Finished <<< nav2_msgs [53.0s]                        
Starting >>> nav2_util
[Processing: nav2_util]                                   
Finished <<< nav2_util [34.1s]                             
Starting >>> nav_2d_utils
Starting >>> nav2_behavior_tree
Starting >>> nav2_lifecycle_manager                               
Starting >>> nav2_map_server
Starting >>> nav2_amcl
Starting >>> nav2_waypoint_follower
Finished <<< nav_2d_utils [19.4s]                                             
Finished <<< nav2_waypoint_follower [30.0s]                                    
Finished <<< nav2_lifecycle_manager [33.4s]                                    
Starting >>> nav2_rviz_plugins
Finished <<< nav2_map_server [1min 1s]       
Starting >>> nav2_costmap_2d
Finished <<< nav2_amcl [1min 7s]             
Finished <<< nav2_rviz_plugins [58.3s]       
[Processing: nav2_behavior_tree, nav2_costmap_2d]
[Processing: nav2_behavior_tree, nav2_costmap_2d]
Finished <<< nav2_behavior_tree [2min 58s]   
Starting >>> nav2_bt_navigator
Finished <<< nav2_costmap_2d [2min 21s]      
Starting >>> nav2_core
Starting >>> costmap_queue
Finished <<< nav2_core [4.58s]               
Starting >>> dwb_core
Starting >>> nav2_controller
Starting >>> nav2_navfn_planner
Starting >>> nav2_planner
Starting >>> nav2_recoveries
Starting >>> nav2_regulated_pure_pursuit_controller
Finished <<< nav2_bt_navigator [51.2s]       
Starting >>> smac_planner
Finished <<< costmap_queue [45.9s]                                             
Finished <<< nav2_navfn_planner [57.8s]                                    
Finished <<< dwb_core [57.9s]                                           
Starting >>> dwb_critics                     
Starting >>> dwb_plugins
Finished <<< nav2_planner [1min 15s]         
Finished <<< nav2_regulated_pure_pursuit_controller [1min 17s]
[Processing: dwb_critics, dwb_plugins, nav2_controller, nav2_recoveries, smac_planner]
Finished <<< dwb_plugins [54.7s]             
Finished <<< nav2_controller [2min 4s]       
Finished <<< dwb_critics [1min 8s]           
Starting >>> nav2_dwb_controller
Finished <<< nav2_dwb_controller [2.32s]    
Finished <<< nav2_recoveries [2min 14s]     
Finished <<< smac_planner [2min 17s]                                
Starting >>> navigation2
Finished <<< navigation2 [1.05s]                          
Starting >>> nav2_bringup
Finished <<< nav2_bringup [1.19s]                          
Starting >>> nav2_system_tests
[Processing: nav2_system_tests]                                
[Processing: nav2_system_tests]                                    
[Processing: nav2_system_tests]                                        
Finished <<< nav2_system_tests [1min 58s]                                

Summary: 31 packages finished [9min 34s]
ros@ros:~/RobCode/navigation2$ 

示例

测试安装后，是否能够正常使用（ros2-foxy为例）。

功能包

source /opt/ros/foxy/setup.bash

export TURTLEBOT3_MODEL=waffle

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models

路径依据实际情况，稍有不同。

源码编译

source /home/ros/RobCode/navigation2/install/setup.bash 

运行

ros2 launch nav2_bringup tb3_simulation_launch.py

设置初始位置（2D Pose Estimate）：

 

在rviz2中加入机器人模型（RobotModel），调整TF大小：

 

使用目标（Navigation2 Goal）设置终点，看效果如何？

 

 

定位思考：

 

 

如何提高定位精度呢？

---

tb3_simulation_launch.py（Intel）

# Copyright (c) 2018 Intel Corporation
#
# 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.

"""This is all-in-one launch script intended for use by nav2 developers."""

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')
    launch_dir = os.path.join(bringup_dir, 'launch')

    # Create the launch configuration variables
    slam = LaunchConfiguration('slam')
    namespace = LaunchConfiguration('namespace')
    use_namespace = LaunchConfiguration('use_namespace')
    map_yaml_file = LaunchConfiguration('map')
    use_sim_time = LaunchConfiguration('use_sim_time')
    params_file = LaunchConfiguration('params_file')
    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
    autostart = LaunchConfiguration('autostart')

    # Launch configuration variables specific to simulation
    rviz_config_file = LaunchConfiguration('rviz_config_file')
    use_simulator = LaunchConfiguration('use_simulator')
    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
    use_rviz = LaunchConfiguration('use_rviz')
    headless = LaunchConfiguration('headless')
    world = LaunchConfiguration('world')

    # Map fully qualified names to relative ones so the node's namespace can be prepended.
    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
    # https://github.com/ros/geometry2/issues/32
    # https://github.com/ros/robot_state_publisher/pull/30
    # TODO(orduno) Substitute with `PushNodeRemapping`
    #              https://github.com/ros2/launch_ros/issues/56
    remappings = [('/tf', 'tf'),
                  ('/tf_static', 'tf_static')]

    # Declare the launch arguments
    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_use_namespace_cmd = DeclareLaunchArgument(
        'use_namespace',
        default_value='false',
        description='Whether to apply a namespace to the navigation stack')

    declare_slam_cmd = DeclareLaunchArgument(
        'slam',
        default_value='False',
        description='Whether run a SLAM')

    declare_map_yaml_cmd = DeclareLaunchArgument(
        'map',
        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
        description='Full path to map file to load')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='true',
        description='Use simulation (Gazebo) clock if true')

    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes')

    declare_bt_xml_cmd = DeclareLaunchArgument(
        'default_bt_xml_filename',
        default_value=os.path.join(
            get_package_share_directory('nav2_bt_navigator'),
            'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
        description='Full path to the behavior tree xml file to use')

    declare_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_rviz_config_file_cmd = DeclareLaunchArgument(
        'rviz_config_file',
        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
        description='Full path to the RVIZ config file to use')

    declare_use_simulator_cmd = DeclareLaunchArgument(
        'use_simulator',
        default_value='True',
        description='Whether to start the simulator')

    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
        'use_robot_state_pub',
        default_value='True',
        description='Whether to start the robot state publisher')

    declare_use_rviz_cmd = DeclareLaunchArgument(
        'use_rviz',
        default_value='True',
        description='Whether to start RVIZ')

    declare_simulator_cmd = DeclareLaunchArgument(
        'headless',
        default_value='False',
        description='Whether to execute gzclient)')

    declare_world_cmd = DeclareLaunchArgument(
        'world',
        # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
        #              https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
        # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
        #                            'worlds/turtlebot3_worlds/waffle.model'),
        default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
        description='Full path to world model file to load')

    # Specify the actions
    start_gazebo_server_cmd = ExecuteProcess(
        condition=IfCondition(use_simulator),
        cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
        cwd=[launch_dir], output='screen')

    start_gazebo_client_cmd = ExecuteProcess(
        condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
        cmd=['gzclient'],
        cwd=[launch_dir], output='screen')

    urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')

    start_robot_state_publisher_cmd = Node(
        condition=IfCondition(use_robot_state_pub),
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        namespace=namespace,
        output='screen',
        parameters=[{'use_sim_time': use_sim_time}],
        remappings=remappings,
        arguments=[urdf])

    rviz_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
        condition=IfCondition(use_rviz),
        launch_arguments={'namespace': '',
                          'use_namespace': 'False',
                          'rviz_config': rviz_config_file}.items())

    bringup_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
        launch_arguments={'namespace': namespace,
                          'use_namespace': use_namespace,
                          'slam': slam,
                          'map': map_yaml_file,
                          'use_sim_time': use_sim_time,
                          'params_file': params_file,
                          'default_bt_xml_filename': default_bt_xml_filename,
                          'autostart': autostart}.items())

    # Create the launch description and populate
    ld = LaunchDescription()

    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_namespace_cmd)
    ld.add_action(declare_slam_cmd)
    ld.add_action(declare_map_yaml_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_bt_xml_cmd)
    ld.add_action(declare_autostart_cmd)

    ld.add_action(declare_rviz_config_file_cmd)
    ld.add_action(declare_use_simulator_cmd)
    ld.add_action(declare_use_robot_state_pub_cmd)
    ld.add_action(declare_use_rviz_cmd)
    ld.add_action(declare_simulator_cmd)
    ld.add_action(declare_world_cmd)

    # Add any conditioned actions
    ld.add_action(start_gazebo_server_cmd)
    ld.add_action(start_gazebo_client_cmd)

    # Add the actions to launch all of the navigation nodes
    ld.add_action(start_robot_state_publisher_cmd)
    ld.add_action(rviz_cmd)
    ld.add_action(bringup_cmd)

    return ld

---