http://rosclub.cn/post-526.html
发布时间:2016年11月23日 11:15:35 浏览数:749次 来自:kint_zhao
新的简洁版参考:ros中kobuki(turtlebot)+rplidar 跑gmapping
SLAM_turtlebot hokuyo 说明:
安装包:turtlebot turtlebot_appshokuyo_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
$ roslaunch kobuki_keyop keyop.launch
$ roslaunch turtlebot_teleop keyboard_teleop.launch
rosrun map_server map_saver -f /tmp/my_map
roslaunch turtlebot_navigation amcl_demo.launch map_file:[map file path]
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
查看电量:
对话框 运动GUI
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="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/> </launch>
2. 文件 /home/agv/kobuki_ws/src/turtlebot/turtlebot_bringup/launch/2dsensor.launch //里面的sensor filter文件请自行选择
<launch> <arg name="2dsensor" default="$(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="$(arg scan_topic)"/> </node> </launch>
补充: 坐标系的问题。
1 turtlebot_world.launch
<include file="$(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。
标签: SLAM