move_base配置文件

参考：ROS机器人高效编程第六章导航功能包进阶

          www.guyuehome.com/281

amcl代价地图。机器人导航将使用两种导航算法在地图上移动=全局导航和局部导航

参考：

https://www.ncnynl.com/archives/201609/857.html

sudo apt-get install ros-indigo-navigation

全局导航用于建立到地图上最终目标或一个远距离的路径。

局部导航用于建立到近距离目标和为了临时躲避障碍物的路径。

代价地图的参数用于配置算法计算行为。它们也有最基本的通用参数，这些参数会保存在共享的文件中。

可以在三个最基本的配置文件中设定不同的参数。这三个文件如下：

costmap_common_params.yaml

global_costmap_params.yaml

local_costmap_params.yaml

程序代码

base_local_planner_params.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.2
  min_vel_x: 0.05
  max_rotational_vel: 0.15
  min_in_place_rotational_vel: 0.01
  min_in_place_vel_theta: 0.01
  max_vel_theta: 0.15
  min_vel_theta: -0.15
  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
#robot_radius: ir_of_robot
inflation_radius: 0.5
cost_scaling_factor: 10.0
observation_sources: scan
scan: {sensor_frame: base_link,  observation_persistence: 0.0, max_obstacle_height: 0.4, min_obstacle_height: 0.0, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 1.0
  static_map: true

local_costmap_params.yaml

local_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.02
  tranform_tolerance: 0.5
  planner_frequency: 1.0
  planner_patiente: 5.0
#plugins:
# {name: obstacles, type: "costmal_2d::ObstacleLayer",
# name: inflation, type: "costmal_2d::InflationLayer"}

movebase.launch

<launch>

  <!-- Run the map server -->
   <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_test)/maps/map.yaml" output="screen"/>

  <include file="$(find amcl)/examples/amcl_diff.launch" >
  </include> 

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="controller_frequency" value="10.0"/>
    <param name="controller_patiente" value="15.0"/>
    <rosparam file="$(find navigation_test)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_test)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find navigation_test)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_test)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_test)/launch/base_local_planner_params.yaml" command="load" />
  </node>


</launch>