ROS1云课→30导航仿真演示

Posted 2022-10-04 zhangrelay

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先一键配置吧，否则很多内容无法展开讲。

echo "-----BEGIN PGP PUBLIC KEY BLOCK-----
Version: GnuPG v1
 
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okdGpcUzvz2hq1fqjxB6MlB/1vtk0bImfcsoxBmF7H+4E9ZN1sX/tSb0KQARAQAB
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PyTkvSyey/Tjn+PozcdvzkvrEjDMftIk8E1WzLGq7vnPLZ1q/b6Vq4H373Z+EDWa
DaDwW72CbCBLWAVtqff80CwlI2x8fYHKr3VBUnwcXNHR4+nRABfAWnaU4k+oTshC
Qucsd8vitNfsSXrKuKyz91IRHRPnJjx8UvGU4tRGfrHkw1505EZvgP02vXeRyWBR
fKiL1vGy4tCSRDdZO3ms2J2m08VPv65HsHaWYMnO+rNJmMZj9d9JdL/9GRf5F6U0
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WE+F5FaIKwb72PL4rLi4
=i0tj
-----END PGP PUBLIC KEY BLOCK-----" >> ~/ros.asc
 
sudo apt-key add ros.asc
 
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 
sudo apt update

sudo apt install ros-kinetic-turtlebot-simulator -y

roslaunch turtlebot_stdr turtlebot_in_stdr.launch

保存为initnav.sh。

1 gedit initnav.sh
2 chmod +x initnav.sh
3 ./initnav.sh
4 ls
5 gedit initnav.sh
6 ./initnav.sh

需要源码下载：

git clone https://gitcode.net/ZhangRelay/ros_book.git

/opt/ros/kinetic/share/turtlebot_stdr/maps

改环境，同样一键配置

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/simple_rooms.yaml

roslaunch turtlebot_stdr turtlebot_in_stdr.launch

效果如下：

更通用案例：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/mines.yaml

echo "<!--
  Turtlebot navigation simulation:
  - stdr
  - move_base
  - amcl
  - map_server
  - rviz view
 -->
<launch>
  <arg name="base"       default="$(optenv TURTLEBOT_BASE kobuki)"/>  <!-- create, rhoomba -->
  <arg name="stacks"     default="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor"  default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->
  <arg name="laser_topic" default="robot0/laser_0"/> <!-- default laser topic in stdr for 1 robot -->
  <arg name="odom_topic" default="robot0/odom"/>
  <arg name="odom_frame_id" default="map"/>
  <arg name="base_frame_id" default="robot0"/>
  <arg name="global_frame_id" default="world"/>
  <!-- Name of the map to use (without path nor extension) and initial position -->
  <arg name="map_file"       default="$(env TURTLEBOT_STDR_MAP_FILE)"/>
  <arg name="initial_pose_x" default="1.5"/>
  <arg name="initial_pose_y" default="1.5"/>
  <arg name="initial_pose_a" default="0.0"/>
  <arg name="min_obstacle_height" default="0.0"/>
  <arg name="max_obstacle_height" default="5.0"/>
 
  <!--  ******************** Stdr********************  -->
  <include file="$(find stdr_robot)/launch/robot_manager.launch" />
  <!-- Run STDR server with a prefedined map-->
  <node pkg="stdr_server" type="stdr_server_node" name="stdr_server" output="screen" args="$(arg map_file)"/>
  <!--Spawn new robot at init position 2 2 0-->
  <node pkg="stdr_robot" type="robot_handler" name="$(anon robot_spawn)" args="add $(find turtlebot_stdr)/robot/turtlebot.yaml $(arg initial_pose_x) $(arg initial_pose_y) 0"/>
  <!-- Run Gui  -->
  <include file="$(find stdr_gui)/launch/stdr_gui.launch"/>
  <!-- Run the relay to remap topics -->
  <include file="$(find turtlebot_stdr)/launch/includes/relays.launch.xml"/>
 
  <!--  ***************** Robot Model *****************  -->
  <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>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="true"/>
  </node>
 
  <!-- Command Velocity multiplexer -->
  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
  </node>
 
  <!-- ****** Maps ***** -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
   <param name="frame_id" value="$(arg global_frame_id)"/>
  </node>
 
 
  <!--  ************** Navigation  ***************  -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
   <arg name="odom_topic" value="$(arg odom_topic)"/>
   <arg name="laser_topic" value="$(arg laser_topic)"/>
   <arg name="odom_frame_id"   value="$(arg odom_frame_id)"/>
   <arg name="base_frame_id"   value="$(arg base_frame_id)"/>
   <arg name="global_frame_id" value="$(arg global_frame_id)"/>
  </include>
 
  <!-- ***************** Manually setting some parameters ************************* -->
    <param name="move_base/local_costmap/obstacle_layer/scan/min_obstacle_height" value="$(arg min_obstacle_height)"/>
    <param name="move_base/local_costmap/obstacle_layer/scan/max_obstacle_height" value="$(arg max_obstacle_height)"/>
    <param name="move_base/global_costmap/obstacle_layer/scan/min_obstacle_height" value="$(arg min_obstacle_height)"/>
    <param name="move_base/global_costmap/obstacle_layer/scan/max_obstacle_height" value="$(arg max_obstacle_height)"/>
 
  <!--  ************** AMCL ************** -->
  <include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">
    <arg name="scan_topic" value="$(arg laser_topic)"/>
    <arg name="use_map_topic" value="true"/>
    <arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
    <arg name="base_frame_id" value="$(arg base_frame_id)"/>
    <arg name="global_frame_id" value="$(arg global_frame_id)"/>
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>
 
 <!-- ********** Small tf tree connector between robot0 and base_footprint********* -->
  <node name="tf_connector" pkg="turtlebot_stdr" type="tf_connector.py" output="screen"/>
 
  <!--  **************** Visualisation ****************  -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_stdr)/rviz/robot_navigation.rviz"/>
 
 
 
 
</launch>" >> ~/mines.launch

roslaunch mines.launch

或者：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/mines.yaml

roslaunch turtlebot_stdr turtlebot_in_stdr.launch

需要修改机器人初始坐标到合适的位置。

课堂中教室建图和导航案例需补充。

然后将其导入的ROS云实践镜像中。

注意一些参数配置，例如机器人和坐标位置等。

<arg name="initial_pose_x" default="1.5"/>
<arg name="initial_pose_y" default="1.5"/>
<arg name="initial_pose_a" default="0.0"/>

坐标要对应地图参数进行调整。

设置地图：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/***.yaml

其中，***对应具体地图名称。

launch文件简单介绍：

包含功能如上。

基本主题和坐标

<arg name="map_file" default="$(env TURTLEBOT_STDR_MAP_FILE)"/>
<arg name="initial_pose_x" default="1.5"/>
<arg name="initial_pose_y" default="1.5"/>
<arg name="initial_pose_a" default="0.0"/>
<arg name="min_obstacle_height" default="0.0"/>
<arg name="max_obstacle_height" default="5.0"/>

初始位置参数和障碍物


<include file="$(find stdr_robot)/launch/robot_manager.launch" />

<node pkg="stdr_server" type="stdr_server_node" name="stdr_server" output="screen" args="$(arg map_file)"/>

<node pkg="stdr_robot" type="robot_handler" name="$(anon robot_spawn)" args="add $(find turtlebot_stdr)/robot/turtlebot.yaml $(arg initial_pose_x) $(arg initial_pose_y) 0"/>

<include file="$(find stdr_gui)/launch/stdr_gui.launch"/>

<include file="$(find turtlebot_stdr)/launch/includes/relays.launch.xml"/>


<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>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
</node>

机器人模型详细参数


<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>

速度


<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
<param name="frame_id" value="$(arg global_frame_id)"/>
</node>
地图


<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="laser_topic" value="$(arg laser_topic)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="global_frame_id" value="$(arg global_frame_id)"/>
</include>

导航


<param name="move_base/local_costmap/obstacle_layer/scan/min_obstacle_height" value="$(arg min_obstacle_height)"/>
<param name="move_base/local_costmap/obstacle_layer/scan/max_obstacle_height" value="$(arg max_obstacle_height)"/>
<param name="move_base/global_costmap/obstacle_layer/scan/min_obstacle_height" value="$(arg min_obstacle_height)"/>
<param name="move_base/global_costmap/obstacle_layer/scan/max_obstacle_height" value="$(arg max_obstacle_height)"/>

自定义参数


<include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">
<arg name="scan_topic" value="$(arg laser_topic)"/>
<arg name="use_map_topic" value="true"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="global_frame_id" value="$(arg global_frame_id)"/>
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>

自适应蒙特卡罗定位


<node name="tf_connector" pkg="turtlebot_stdr" type="tf_connector.py" output="screen"/>

坐标


<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_stdr)/rviz/robot_navigation.rviz"/>

可视化

</launch>

坐标：

#!/usr/bin/env python
__author__ = 'mehdi tlili'
import rospy
from tf2_msgs.msg import TFMessage
import tf

class Remapper(object):

    def __init__(self):
        self.br = tf.TransformBroadcaster()
        rospy.Subscriber("/tf", TFMessage, self.tf_remapper)

    def tf_remapper(self, msg):

        if msg.transforms[0].header.frame_id == "/robot0":
            self.br.sendTransform((0, 0, 0),
                                  tf.transformations.quaternion_from_euler(0, 0, 0),
                                  rospy.Time.now(),
                                  "base_footprint",
                                  "robot0")


if __name__ == '__main__':
    rospy.init_node('remapper_nav')
    remapper = Remapper()
    rospy.spin()

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