ROS实战之多个turtlebot2导航

ROS实战之多turtlebot2导航

多机器人的主从机配置可以参考我的上一个博客，接下来实现多机器人在同一地图下的导航。
1.配置launch文件
不同机器人应具有不同的命名空间，这样使得发布话题不会紊乱，就比如两个turtlebot发布的一样，到底控制哪个呢？因此命名空间的配置在多机器人建图和导航的过程中非常重要，具体配置可以参考上一个博客。
多机器人导航的launch文件(multi_navigation.launch)如下：

<launch>
  <!-- Arguments -->
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  <arg name="first_tb2"  default="tb2_0"/>
  <arg name="second_tb2"  default="tb2_1"/>

  <!-- Map server -->
  <arg name="map_file" default="$(find turtlebot_navigation)/maps/cloister_gmapping.yaml"/>
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

<group ns = "$(arg first_tb2)">
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
  <!-- Turtlebot2 -->
  <include file="$(find turtlebot_bringup)/launch/m_turtlebot_remote.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="multi_robot_name" value="$(arg first_tb2)" />
  </include>
  <arg name="first_tb2_x_pos" default="2.0"/>
  <arg name="first_tb2_y_pos" default="-0.5"/>
  <arg name="first_tb2_z_pos" default="0.0"/>
  <!-- AMCL -->
  <include file="$(find turtlebot_navigation)/launch/multi_amcl.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg first_tb2)/odom"/>
    <arg name="base_frame_id"   value="$(arg first_tb2)/base_footprint"/> 
    <arg name="initial_pose_x" value="$(arg first_tb2_x_pos)"/>
    <arg name="initial_pose_y" value="$(arg first_tb2_y_pos)"/>
    <arg name="initial_pose_a" value="$(arg first_tb2_z_pos)"/>
  </include>

  <!-- move_base -->
  <include file="$(find turtlebot_navigation)/launch/multi_move_base.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg first_tb2)/odom"/>
    <arg name="base_frame_id"   value="$(arg first_tb2)/base_footprint"/>
    <arg name="odom_topic" value="/$(arg first_tb2)/odom" />
    <arg name="laser_topic" value="/$(arg first_tb2)/scan" />
    <arg name="cmd_vel_topic" value="/$(arg first_tb2)/cmd_vel" />
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</group>

<group ns = "$(arg second_tb2)">
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
  <!-- Turtlebot3 -->
  <include file="$(find turtlebot_bringup)/launch/m_turtlebot_remote.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="multi_robot_name" value="$(arg second_tb2)" />
  </include>
  <arg name="second_tb2_x_pos" default="2.0"/>
  <arg name="second_tb2_y_pos" default="0.5"/>
  <arg name="second_tb2_z_pos" default="0.0"/>
  <!-- AMCL -->
  <include file="$(find turtlebot_navigation)/launch/multi_amcl.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg second_tb2)/odom"/>
    <arg name="base_frame_id"   value="$(arg second_tb2)/base_footprint"/> 
    <arg name="initial_pose_x" value="$(arg second_tb2_x_pos)"/>
    <arg name="initial_pose_y" value="$(arg second_tb2_y_pos)"/>
    <arg name="initial_pose_a" value="$(arg second_tb2_z_pos)"/>
  </include>

  <!-- move_base -->
  <include file="$(find turtlebot_navigation)/launch/multi_move_base.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg second_tb2)/odom"/>
    <arg name="base_frame_id"   value="$(arg second_tb2)/base_footprint"/>
    <arg name="odom_topic" value="/$(arg second_tb2)/odom" />
    <arg name="laser_topic" value="/$(arg second_tb2)/scan" />
    <arg name="cmd_vel_topic" value="/$(arg second_tb2)/cmd_vel" />
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</group>


  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot_navigation)/rviz/multi_turtlebot_navigation.rviz"/>
  </group>
</launch>

导航launch文件(multi_move_base.launch)如下：

<launch>
  <!-- Arguments -->
  <arg name="odom_frame_id"   default="odom"/>
  <arg name="base_frame_id"   default="base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />
  <arg name="move_forward_only" default="false"/>
  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="global_planner/GlobalPlanner"/>
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />

    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="global_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>
    <param name="local_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>

    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="scan" to="$(arg laser_topic)"/>
    <param name="DWAPlanner/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>
</launch>

定位的launch文件(multi_amcl.launch)如下：

<launch>
  <!-- Arguments -->
  <arg name="use_map_topic"   default="true"/>
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
  <arg name="odom_frame_id"   default="odom"/>
  <arg name="base_frame_id"   default="base_footprint"/>
  <arg name="global_frame_id" default="map"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl">

    <param name="use_map_topic"             value="$(arg use_map_topic)"/>

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>

    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <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_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="$(arg odom_frame_id)"/> 
    <param name="base_frame_id"             value="$(arg base_frame_id)"/> 
    <param name="global_frame_id"           value="$(arg global_frame_id)"/>

  </node>
</launch>

2.启动launch文件配置rviz
启动multi_move_base.launch，然后配置rviz显示。效果如下图:
遇到的问题及解决:
1.tf信息错误
两个小车的tf变换中的节点名称不对,没有区分成tb2_0还是tb2_1.其次两个小车没有转换到一个map坐标系下,使得小车模型或者地图加载错误.
解决办法:
认真仔细修改tf变换,在launch文件中给小车对应的每个节点都加上属性,同时发布的话题也加上ns属性,保证tf树变换正确.
2.激光雷达扫描信息与地图不匹配
AMCL初始化位置中的激光扫描信息与实际地图不匹配,原因是激光雷达的坐标系与底盘坐标系有误差.
解决办法:
人为手动旋转激光雷达,保证激光雷达坐标系和底盘坐标系尽量一致;或者在launch文件中加入静态TF变换,给予尽量正确的外参.