在Pioneer3at上运行amcl

AMCL是机器人在二维移动过程中概率定位系统。它应用自适应的蒙特卡洛定位方式（或者KLD采样），采用微粒过滤器来跟踪已知地图中机器人的位姿。

如果看到LZ之前的几篇的博客,一路下来,建图后,怎么让机器人知道自己在哪儿呢?这就需要amcl了.

还是,第一步打开ros的master

roscore

连接自己的机器人

roslaunch felaim_2dnav felaim_robot.launch

连接kinect生成雷达数据

roslaunch felaim_2dnav pioneer3at_fake_laser_freenect.launch

运行amcl节点

roslaunch felaim_2dnav tb_demo_amcl.launch

tb_demo_amcl.launch

<launch>

  <param name="use_sim_time" value="false" />

  <!-- EDIT THIS LINE TO REFLECT THE NAME OF YOUR OWN MAP FILE 
       Can also be overridden on the command line -->
  <arg name="map" default="my_map.yaml" />

  <!-- Run the map server with the desired map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find felaim_2dnav)/maps/$(arg map)"/>

  <!-- Start move_base  -->
  <include file="$(find felaim_2dnav)/launch/tb_move_base.launch" />

  <!-- Fire up AMCL -->
  <include file="$(find felaim_2dnav)/launch/tb_amcl.launch" />

</launch>

tb_amcl.launch

<launch>

  <arg name="use_map_topic" default="false"/>
  <arg name="scan_topic" default="scan"/>

  <node pkg="amcl" type="amcl" name="amcl" clear_params="true">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="60"/>
    <param name="laser_max_range" value="12.0"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.2"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.25"/>
    <param name="update_min_a" value="0.2"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance" value="1.0"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

最后进行可视化:

rosrun rviz rviz `rospack find felaim_2dnav`/launch/nav_test.rviz

当amcl第一次启动时,需要给机器人设置一个初始方向(位置与方向),因为amcl靠自己确定的信息.为了设定初始方位,首先点击RVIZ中的2D Pose Estimation按钮.接着在地图上点击你的机器人的位置.按着鼠标箭头,会出现绿色箭头,移动箭头来使箭头的方向和机器人一致,松开鼠标.

看到你想要的图像时,点击2D New Goal按钮,接着在地图中选择一个目标位置.然后,你的机器人就愉快的奔向目的地啦O(∩_∩)O哈哈~