本文主要是介绍Ros中2D_Slam说明: turtlebot+kinect改写成turtlebot+laser(hokuyo),希望对大家解决编程问题提供一定的参考价值,需要的开发者们随着小编来一起学习吧!
转自:http://blog.csdn.net/zyh821351004/article/details/44103757
SLAM_turtlebot hokuyo 说明:
安装包:turtlebot turtlebot_apps
hokuyo_node kobuki
kinect 2D_Slam 参考链接: http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
hector_slam 参考连接: http://my.phirobot.com/blog/2014-06-hector_mapping_example.html
改动turtlebot的SLAM例子,已经可以初步跑动起kobuki来用实际机器人做SLAM。
turtlebot的例子主要是利用kinect的深度信息模拟激光数据进行二维地图的构建。现在只需将传感器节点换成hokuyo
的节点,并配置好相应的参考系与传感信息发布数据的话题。基本上就可以整体运行起来。
现在也只是初步的配置。后面要根据实际的机器人物理模型结构,规范好激光与机器人的相对位置。
1)机器人启动.
机器人的物理描述文件(urdf文件)配置,关于实际运动的mobile_base相应配置,诊断节点
2) 传感器运行。
改动主要集中在hokuyo_node的坐标系与数据节点。
3)gmapping 制栅格地图
4)amcl 定位。~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1. 启动turtlebot.
roslaunch turtlebot_bringup minimal.launch
2.gmapping
roslaunch turtlebot_navigation gmapping_demo.launch注:。turtlebot的例子主要是利用kinect的深度信息模拟激光数据进行二维地图的构建。现在只需将传感器节点换成hokuyo 的节点,并配置好相应的参考系与传感信息发布数据的话题。基本上就可以整体运行起来。
ps: 这部分需要将启动的传感器3dsenser(kinect) 改成laser. hokuyo
添加文件hokuyo_2d_sensor.launch
3.显示
roslaunch turtlebot_rviz_launchers view_navigation.launch
××键盘控制:
$ roslaunch kobuki_keyop keyop.launch
$ roslaunch turtlebot_teleop keyboard_teleop.launch
4.保存地图
rosrun map_server map_saver -f /tmp/my_map
5 .导航
roslaunch turtlebot_navigation amcl_demo.launch map_file:[map file path]
显示:
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
.yaml格式文件
查看电量:
对话框 运动GUI
运行 rosrun rqt_robot_monitor rqt_robot_monitor
**界面式查kobuki的电量(先运行节点):rosrun rqt_gui rqt_gui
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~说明:bash脚本语言。turtlebot_hokuyo_slam.sh
1. 先要进行ros的环境变量设置。
2. 并行工程中需要等待后台launch文件的启动
#!/bin/bash
#source /opt/ros/hydro/setup.bash
source /opt/ros/hydro/setup.bash
source /home/agv/hydro_ws/devel/setup.bash
ROS_PACKAGE_PATH=~/hydro_ws/src:$ROS_PACKAGE_PATH
ROS_WORKSPACE=~/hydro_ws/src
echo roslaunch turtlebot_bringup
roslaunch turtlebot_bringup minimal.launch &
sleep 15
echo turtlebot_navigation
roslaunch turtlebot_navigation gmapping_demo.launch &
sleep 15
echo turtlebot_rviz_launchers
roslaunch turtlebot_rviz_launchers view_navigation.launch &
sleep 5
roslaunch kobuki_keyop keyop.launch
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
注: 主要更改的配置文件。
1.文件 src/turtlebot_apps/turtlebot_navigation/launch gmapping_demo.launch
<launch>
<!--kinect-->
<!--include file="$(find turtlebot_bringup)/launch/3dsensor.launch"-->
<!--arg name="rgb_processing" value="false" /-->
<!--arg name="depth_registration" value="false" /-->
<!--arg name="depth_processing" value="false" /-->
<!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->
<!--arg name="scan_topic" value="/scan" /-->
<!--/include-->
<!--hokuyo-->
<!--配置了相应的激光数据base 与 topic -->
<arg name="2dsensor" default="$(optenv SENSOR_2D hokuyo)"/>
<!-- rplidar, hokuyo -->
<!--arg name="use_filter" default="$(optenv USE_FILTER false)"/-->
<include file="$(find turtlebot_bringup)/launch/includes/$(arg 2dsensor)_2d_sensor.launch.xml">
<arg name="scan_topic" value="/scan" />
<arg name="laser_frame" value="camera_depth_frame" />
<!-- if need change port -->
<!--arg name="laser_port" value="/dev/ttyACM0" /-->
</include>
<!--include if="$(arg use_filter)" file="$(find exbotxi_bringup)/launch/includes/laser_filter.launch.xml">
<arg name="scan_in" value="scan_raw"/>
<arg name="scan_out" value="/scan"/>
</include-->
<include file="$(find turtlebot_navigation)/launch/includes/gmapping.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
</launch>
2. 文件 /home/agv/kobuki_ws/src/turtlebot/turtlebot_bringup/launch/2dsensor.launch
<launch>
<arg name="2dsensor" default="$(optenv SENSOR_2D hokuyo)"/>
<!-- rplidar, hokuyo -->
<arg name="use_filter" default="$(optenv USE_FILTER false)"/>
<include file="$(find exbotxi_bringup)/launch/includes/$(arg 2dsensor)_2d_sensor.launch.xml">
<arg if="$(arg use_filter)" name="scan_topic" value="scan_raw" />
<arg name="laser_frame" value="laser_link" />
<!-- if need change port -->
<!--arg name="laser_port" value="/dev/ttyUSB1" /-->
</include>
<include if="$(arg use_filter)" file="$(find exbotxi_bringup)/launch/includes/laser_filter.launch.xml">
<arg name="scan_in" value="scan_raw"/>
<arg name="scan_out" value="scan"/>
</include>
</launch>
3. 文件 /home/agv/kobuki_ws/src/turtlebot/turtlebot_bringup/launch/include/hokuyo_2d_sensor.launch.xml
<launch>
<arg name="scan_topic" default="/scan" />
<arg name="laser_frame" default="kobuki" />
<arg name="laser_port" default="/dev/ttyACM0" />
<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node">
<param name="port" type="string" value="$(arg laser_port)"/>
<param name="min_ang" value="-1.7" />
<param name="max_ang" value="1.7" />
<param name="min_range" value="0.18" />
<param name="hokuyo_node/calibrate_time" value="true" />
<param name="frame_id" value="$(arg laser_frame)" />
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
(注意:Turtlebot添加激光雷达时,参考:http://wiki.ros.org/turtlebot/Tutorials/hydro/Adding%20a%20Hokuyo%20laser%20to%20your%20Turtlebot
单次使用时:http://wiki.ros.org/hokuyo_node/Tutorials/UsingTheHokuyoNode 需要修改雷达端口权限:
sudo chmod a+rw /dev/ttyACM0
)
上张图以示纪念:
- 补充: 坐标系的问题。
- 1 turtlebot_world.launch
- <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
- 1.1 kobuki.launch.xml
- <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
- <param name="robot_description" command="$(arg urdf_file)" />
- 1.1.1 rplidar.urdf.xacro
- <xacro:macro name="sensor_rplidar" params="parent">
- <joint name="laser" type="fixed">
- <origin xyz="0.15 0.0 0.15" rpy="0 0.0 0.0" />
- <parent link="base_link" />
- <child link="base_laser_link" />
- </joint>
- 熟悉下urdf文件的的相应语法。。
- 坐标系的相对关系。父子坐标系
- 旋转与平移。
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