机器人制作开源方案 | 桌面级全向底盘--slam导航

最新推荐文章于 2024-06-14 00:03:48 发布

Robotway

最新推荐文章于 2024-06-14 00:03:48 发布

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文章标签：机器人

本文链接：https://blog.csdn.net/Robotway/article/details/132792224

版权

机器人的智能移动可应用于物流行业、交通行业，本节内容我们将利用键盘控制全向底盘运动完成slam建图，并能在已建好的地图里进行自主导航。

1. 键盘控制底盘运动

实现思路

按下键盘上指定的键，实现全向底盘前进、后退、转向、平移；还可以灵活的设置底盘的角速度、线速度来调整底盘的运动。下面是本实验中规划的控制全向底盘的键盘命令（如下表所示），大家可以先熟悉一下，稍后会在控制底盘时用到。

键盘命令及含义表

操作步骤

① 下载文末资料中的参考程序fourmacnum_car_ws\src\Arduino_Program\black_handle_BaseCar\black_handle_BaseCar.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-22 https://www.robotway.com/

  ------------------------------*/

//DUE控制版需要启用USE_USBON或USE_NATIVE_USB,UNO不需要

//#define USE_USBCON          //PAOGRAMMING PORT

//#define USE_NATIVE_USB      //NATIVE USB PORT

#define ActionDelayTimes 1500

//#include <SoftwareSerial.h>

#include <ros.h>

#include <ros/time.h>

//#include<ServoTimer2.h>

#include <geometry_msgs/Vector3.h>

#define mySerial Serial2

#define BusServoSerialBaud 115200

ros::NodeHandle   nh;

void XYRun(double vx, double vy, double w);

void messageCb( const geometry_msgs::Vector3& vel_cmd)   {XYSetVel(vel_cmd.x, vel_cmd.y, vel_cmd.z);}

ros::Subscriber<geometry_msgs::Vector3> vel_cmd_sub("vel_cmd", &messageCb );

geometry_msgs::Vector3 pose_message;

ros::Publisher pose_feedback_pub("pose_feedback",&pose_message);

geometry_msgs::Vector3 vel_message;

ros::Publisher vel_feedback_pub("vel_feedback",&vel_message);

//ServoTimer2 myServo[4];//statement servo

//int servo_port[4] = {10, 11, 12, 13};//x,y,z,a

//float value_init[4] = {88, 88, 96, 86};//x,y,z,a

const int kMessagePubRate = 5;

unsigned long message_pub_time = 0;

const int kReadMotorDeltaT = 5;

unsigned long position_read_time = 0;

float current_x = 0,current_y = 0,current_a = 0;

float current_vx = 0,current_vy = 0,current_va = 0;

float wheel_Speed[4]={0,0,0,0};

char cmd_return[200];

float sudu = 0.87;

//SoftwareSerial mySerial(51, 9);

void setup()

{

  delay(1000);

  Serial.begin(57600);delay(1000);

  mySerial.begin(BusServoSerialBaud);delay(1000);

  //Servo_Action_Test();delay(1500);  

  nh.initNode();

  nh.subscribe(vel_cmd_sub);

  nh.advertise(pose_feedback_pub);

  nh.advertise(vel_feedback_pub);

  XYSetVel(0.0,0.0,0.0);

  position_read_time = millis();

  message_pub_time = millis();

}

void loop()

{

//   unsigned long times = millis();

//   set_Single_servo_Vel(1600);delay(5000);

//   Serial.println(millis()-times);

//   set_Single_servo_Vel(1500);

//   while(1){

//    delay(100);

//   }

  if(millis()>position_read_time)

  {  

    XYread();

    position_read_time+=kReadMotorDeltaT;

  }  

 

  if(millis()>message_pub_time)

  {

    pose_message.x = current_x;

    pose_message.y = current_y;

    pose_message.z = current_a;

    vel_message.x = current_vx;

    vel_message.y = current_vy;

    vel_message.z = current_va;

    pose_feedback_pub.publish(&pose_message);

    vel_feedback_pub.publish(&vel_message);

    message_pub_time+=1000.0/kMessagePubRate;

  }

  nh.spinOnce();

}

② 启动雷达、键盘、rosserial程序包。打开终端,输入roslaunch robot_navigation_control robot.launch命令（见下图），等待程序的运行启动界面。

样机方案-【R333】桌面级全向底盘-5.slam导航-全向底盘-循迹-避障-机器视觉-颜色识别-slam导航-Ros-人工智能-机器谱robotway-开源-图1 — 终端

成功启动后，可以在终端看到底盘的当前speed（线速度）为0.04，turn（角速度）为0.08。

注意：speed指的是线速度的大小（包含方向），turn指的是角速度的大小（包含方向）。

启动后的界面（如下图所示）:

③ 尝试按下键盘命令，控制底盘的运动。 (注意：请先保证终端是激活状态；按键盘时，稍微有点间隔，给底盘转动的时间)。

假如现在希望先增加底盘的最大速度，再降低底盘的最大速度，则分别按下键盘上q、z命令，则可以观察到终端的结果（如下图所示）。

更多命令大家可自行尝试。

2. 底盘同步定位与建图-SLAM

实现思路

利用Gmapping算法对底盘所在的未知环境进行建立地图、同步定位、最后保存此地图。此地图可供后续底盘导航使用。

器材准备

操作步骤

① 下载文末资料中的参考程序fourmacnum_car_ws\src\Arduino_Program\black_handle_BaseCar\black_handle_BaseCar.ino：

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-08-22 https://www.robotway.com/

  ------------------------------*/

//DUE控制版需要启用USE_USBON或USE_NATIVE_USB,UNO不需要

//#define USE_USBCON          //PAOGRAMMING PORT

//#define USE_NATIVE_USB      //NATIVE USB PORT

#define ActionDelayTimes 1500

//#include <SoftwareSerial.h>

#include <ros.h>

#include <ros/time.h>

//#include<ServoTimer2.h>

#include <geometry_msgs/Vector3.h>

#define mySerial Serial2

#define BusServoSerialBaud 115200

ros::NodeHandle   nh;

void XYRun(double vx, double vy, double w);

void messageCb( const geometry_msgs::Vector3& vel_cmd)   {XYSetVel(vel_cmd.x, vel_cmd.y, vel_cmd.z);}

ros::Subscriber<geometry_msgs::Vector3> vel_cmd_sub("vel_cmd", &messageCb );

geometry_msgs::Vector3 pose_message;

ros::Publisher pose_feedback_pub("pose_feedback",&pose_message);

geometry_msgs::Vector3 vel_message;

ros::Publisher vel_feedback_pub("vel_feedback",&vel_message);

//ServoTimer2 myServo[4];//statement servo

//int servo_port[4] = {10, 11, 12, 13};//x,y,z,a

//float value_init[4] = {88, 88, 96, 86};//x,y,z,a

const int kMessagePubRate = 5;

unsigned long message_pub_time = 0;

const int kReadMotorDeltaT = 5;

unsigned long position_read_time = 0;

float current_x = 0,current_y = 0,current_a = 0;

float current_vx = 0,current_vy = 0,current_va = 0;

float wheel_Speed[4]={0,0,0,0};

char cmd_return[200];

float sudu = 0.87;

//SoftwareSerial mySerial(51, 9);

void setup()

{

  delay(1000);

  Serial.begin(57600);delay(1000);

  mySerial.begin(BusServoSerialBaud);delay(1000);

  //Servo_Action_Test();delay(1500);  

  nh.initNode();

  nh.subscribe(vel_cmd_sub);

  nh.advertise(pose_feedback_pub);

  nh.advertise(vel_feedback_pub);

  XYSetVel(0.0,0.0,0.0);

  position_read_time = millis();

  message_pub_time = millis();

}

void loop()

{

//   unsigned long times = millis();

//   set_Single_servo_Vel(1600);delay(5000);

//   Serial.println(millis()-times);

//   set_Single_servo_Vel(1500);

//   while(1){

//    delay(100);

//   }

  if(millis()>position_read_time)

  {  

    XYread();

    position_read_time+=kReadMotorDeltaT;

  }  

 

  if(millis()>message_pub_time)

  {

    pose_message.x = current_x;

    pose_message.y = current_y;

    pose_message.z = current_a;

    vel_message.x = current_vx;

    vel_message.y = current_vy;

    vel_message.z = current_va;

    pose_feedback_pub.publish(&pose_message);

    vel_feedback_pub.publish(&vel_message);

    message_pub_time+=1000.0/kMessagePubRate;

  }

  nh.spinOnce();

}

② 启动雷达、键盘、rosserial。

打开终端并输入命令：roslaunch robot_navigation_control robot_car.launch，见下图。