ROS学习笔记之——基于frontier_exploration的机器人自主探索

最新推荐文章于 2024-11-07 15:33:04 发布

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最新推荐文章于 2024-11-07 15:33:04 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/gwplovekimi/article/details/119154288

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最近在做机器人自主探索建图的相关topic。之前博客也尝试了不同的自主探索包，如rrt_exploration包《ROS仿真笔记之——基于rrt_exploration的单个机器人自主探索建图》与explore_lite包《ROS仿真笔记之——移动机器人自主探索式地图构建》。本博文尝试一下frontier_exploration包

关于机器人自主建图，其实是希望从passive slam到active slam的转变，让移动机器人自己以最优（质量和效率）的状态进行定位和环境建图，同时这也是移动机器人迈向自动化的方向。旨在解放对移动机器人的束缚，使其自由的进行环境建图。
而其整个流程主要分为frontier的检测—然后探索未知区域—直到环境中不再有未知的区域。其中需要SLAM的参与进行定位和建图，目前默认的建图模式采用gmapping（栅格地图），现阶段大量学者开始研究pose graph based active SLAM.

The provided nodes can be used to demo the functionality of the costmap layer by executing a frontier exploration task bounded by a user-defined polygon area.

仿真测试

跟gmapping类似，应该是本身标配的包。先运行gazebo环境如下：

运行的时候报错如下：

ERROR: cannot launch node of type [frontier_exploration/explore_client]: Cannot locate node of type [explore_client] in package [frontier_exploration]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [frontier_exploration/explore_server]: Cannot locate node of type [explore_server] in package [frontier_exploration]. Make sure file exists in package path and permission is set to executable (chmod +x)

改为下面这样报错如下：

<node pkg="exploration_server" type="plugin_client" name="plugin_client" output="screen">
</node>

<node pkg="exploration_server" type="exploration_server_node" name="exploration_server_node" output="screen">
    <param name="frequency" type="double" value="1.0"/>
    <param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="explore_costmap" />
    <rosparam file="$(find turtlebot3_slam)/config/frontier_exploration.yaml" command="load" ns="explore_costmap" />
  </node>

[exploration_server_node-5] process has died [pid 15529, exit code -6, cmd /home/kwanwaipang/catkin_ws/devel/lib/exploration_server/exploration_server_node __name:=exploration_server_node __log:=/home/kwanwaipang/.ros/log/734e0eb4-ef8f-11eb-b1af-4074e020cd12/exploration_server_node-5.log].
log file: /home/kwanwaipang/.ros/log/734e0eb4-ef8f-11eb-b1af-4074e020cd12/exploration_server_node-5*.log

虽然可以点击publish point，但是机器人还是不会动

感觉这个包是有问题的，都不完整，暂时无法实现~

最后还由于改动了actionlib，搞得我只能重装下ROS了。。。。。

参考：https://blog.csdn.net/qq_41450811/article/details/99079041