本文主要是介绍Nav2笔记,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!
1、源码安装
git clone https://github.com/ros-planning/navigation2.git -b humble
1.1 一键安装依赖
wget http://fishros.com/install -O fishros && . fishros
rosdepc install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
1.2 编译
colcon build --packages-up-to navigation2
测试,安装是否成功
ros2 pkg list | grep navigation2
成功显示
navigation2
------------------------------------------------------------------------------------------------------------------------------
1.3 二进制安装
sudo apt install ros-humble-nav2-* -y
2、源码目录功能
#==============控制器及其实现相关功能包======================#
nav2_controller | 控制器
nav2_dwb_controller | DWB控制器,Nav2控制器的一个实现
nav2_regulated_pure_pursuit_controller | 纯追踪控制器,Nav2控制器的一个实现
nav2_constrained_smoother#==============规划器及其实现相关功能包======================#
nav2_planner | Nav2规划器
nav2_navfn_planner | navfn规划器,Nav2规划器的一个实现
nav2_smac_planner | smac规划器,Nav2规划器的一个实现#=====================恢复器==============================#
nav2_recoveries | Nav2恢复器#=====================行为树节点及其定义====================#
nav2_bt_navigator | 导航行为树
nav2_behavior_tree | 行为树节点插件定义#=====================地图和定位===========================#
nav2_map_server | 地图服务器
nav2_costmap_2d | 2D代价地图
nav2_voxel_grid | 体素栅格
nav2_amcl | 自适应蒙特卡洛定位。 状态估计,输入地图、激光、里程计数据,输出机器人map和odom之间的位资关系。#=====================通用插件系统管理等====================#
nav2_bringup | 启动入口
nav2_common | 公共功能包
nav2_msgs | 通信相关消息定义
nav2_util | 常用工具
nav2_lifecycle_manager |节点生命周期管理器
nav2_rviz_plugins | RVIZ插件#=====================核心定义============================#
nav2_core | Nav2核心包
navigation2 | nav2导航汇总配置#=====================应用================================#
nav2_waypoint_follower | 路点跟踪#=====================测试=================================#
nav2_system_tests | 系统测试
3、参数配置
复制下面的路径:
navigation2/nav2_bringup/bringup/params/nav2_params.yaml
每组参数解析:
编号 | 配置项 | 用途 | 对应模块与参数详解 |
---|---|---|---|
1 | amcl | 机器人定位 | nav2_amcl |
2 | bt_navigator | 导航行为树(用于加载行为树节点并根据xml配置进行调度) | nav2_bt_navigator,nav2_behavior_tree |
3 | controller_server | 控制器服务器 | nav2_controller,nav2_dwb_controller,nav2_regulated_pure_pursuit_controller |
4 | planner_server | 规划服务器 | nav2_planner,nav2_navfn_planner,smac_planner |
5 | recoveries_server | 恢复服务器 | nav2_recoveries |
6 | local_costmap | 局部代价地图 | nav2_costmap_2d,static_layer,inflation_layer |
7 | global_costmap | 全局代价地图 | nav2_costmap_2d,nav2_map_server |
根据自己机器人情况配置:
旋转半径(robot_radius)
local_costmap:local_costmap:ros__parameters:robot_radius: 0.12global_costmap:global_costmap:ros__parameters:robot_radius: 0.12
碰撞半径(inflation_radius)
global_costmap:global_costmap:ros__parameters:plugins: ["static_layer", "obstacle_layer", "inflation_layer"]inflation_layer:plugin: "nav2_costmap_2d::InflationLayer"cost_scaling_factor: 3.0inflation_radius: 0.35
frame_id配置:
- 默认全局的坐标系:map
- 默认里程计坐标系:odom
- 默认雷达话题:scan
- 默认机器人基坐标系:base_link
- 默认地图话题:map
4、编写launch文件
在一个launch文件中包裹另一个功能包中的luanch文件采用的是
IncludeLaunchDescription
和PythonLaunchDescriptionSource
'''
作者: 小鱼
公众号: 鱼香ROS
QQ交流群: 2642868461
描述: Nav2 launch启动文件
'''
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Nodedef generate_launch_description():#=============================1.定位到包的地址=============================================================fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')nav2_bringup_dir = get_package_share_directory('nav2_bringup')#=============================2.声明参数,获取配置文件路径===================================================# use_sim_time 这里要设置成true,因为gazebo是仿真环境,其时间是通过/clock话题获取,而不是系统时间use_sim_time = LaunchConfiguration('use_sim_time', default='true') map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','fishbot_map.yaml'))nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','fishbot_nav2.yaml'))rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')#=============================3.声明启动launch文件,传入:地图路径、是否使用仿真时间以及nav2参数文件==============nav2_bringup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),launch_arguments={'map': map_yaml_path,'use_sim_time': use_sim_time,'params_file': nav2_param_path}.items(),)rviz_node = Node(package='rviz2',executable='rviz2',name='rviz2',arguments=['-d', rviz_config_dir],parameters=[{'use_sim_time': use_sim_time}],output='screen')return LaunchDescription([nav2_bringup_launch,rviz_node])
5、修改CmakeList.txt,添加路径:
install(DIRECTORY launch param mapsDESTINATION share/${PROJECT_NAME}
)
7、构建
colcon build --packages-up-to fishbot_navigation2
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