ROS1云课→30导航仿真演示

ROS1云课→29如何借助导航实现走迷宫机器人

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先一键配置吧，否则很多内容无法展开讲。

代码语言：javascript复制

echo "-----BEGIN PGP PUBLIC KEY BLOCK-----
Version: GnuPG v1
 
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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

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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：

代码语言：javascript复制

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

代码语言：javascript复制

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：

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更通用案例：

代码语言：javascript复制

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：

代码语言：javascript复制

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。 

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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。

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launch文件简单介绍：

<!--   Turtlebot navigation simulation:   - stdr   - move_base   - amcl   - map_server   - rviz view  -->

包含功能如上。

<launch>   <arg name="base"       default="

基本主题和坐标

  <!-- 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"/>

初始位置参数和障碍物     <!--  ******************** Stdr********************  -->   <include file="(anon robot_spawn)" args="add (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_bringup)/launch/includes/robot.launch.xml">     <arg name="base" value="(arg stacks)" />     <arg name="3d_sensor" value="

机器人模型详细参数   <!-- 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>

速度     <!-- ****** Maps ***** -->   <node name="map_server" pkg="map_server" type="map_server" args="(find turtlebot_navigation)/launch/includes/move_base.launch.xml">    <arg name="odom_topic" value="(arg laser_topic)"/>    <arg name="odom_frame_id"   value="(arg base_frame_id)"/>    <arg name="global_frame_id" value="

导航     <!-- ***************** 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/global_costmap/obstacle_layer/scan/max_obstacle_height" value="

自定义参数     <!--  ************** AMCL ************** -->   <include file="(arg odom_frame_id)"/>     <arg name="base_frame_id" value="(arg global_frame_id)"/>     <arg name="initial_pose_x" value="(arg initial_pose_y)"/>     <arg name="initial_pose_a" value="

自适应蒙特卡罗定位  <!-- ********** Small tf tree connector between robot0 and base_footprint********* -->   <node name="tf_connector" pkg="turtlebot_stdr" type="tf_connector.py" output="screen"/>

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

可视化 </launch>

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坐标：

代码语言：javascript复制

#!/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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node.js c++ bash bash指令 机器人

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