自主导航系列13-实际调试

 

自主导航系列13-实际调试

1，四元数

---
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 261
        nsecs: 185000000
      frame_id: "map"
    child_frame_id: "odom"
    transform: 
      translation: 
        x: -0.0188482053885
        y: -0.0464093420836
        z: -0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.00606758397742
        w: 0.999981592043
​

这一篇blog解释的很好

这表示map到odom之间，仅仅有很少一部分平移

2，小车仿真的参数配置

roslaunch rrt_exploration_tutorials jianjian_rrt.launch 

这个是已经配置好的，现在准备加上gazebo模型

 

 

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" >
  <remap from="scan" to="base_scan"/>
  <param name="map_frame" value="$(arg namespace)/map"/>
  <param name="odom_frame" value="$(arg namespace)/odom"/>
  <param name="base_frame" value="$(arg namespace)/base_link"/>
  <param name="map_update_interval" value="2.0"/>
  <param name="maxUrange" value="50.0"/>
  <param name="maxRange" value="50.0"/>
  <param name="sigma" value="0.05"/>
  <param name="kernelSize" value="1"/>
  <param name="lstep" value="0.05"/>
  <param name="astep" value="0.05"/>
  <param name="iterations" value="5"/>
  <param name="lsigma" value="0.075"/>
  <param name="ogain" value="3.0"/>
  <param name="lskip" value="0"/>
  <param name="srr" value="0.01"/>
  <param name="srt" value="0.02"/>
  <param name="str" value="0.01"/>
  <param name="stt" value="0.02"/>
  <param name="linearUpdate" value="0.01"/>
  <param name="angularUpdate" value="0.01"/>
  <param name="temporalUpdate" value="0.1"/>
  <param name="resampleThreshold" value="0.5"/>
  <param name="particles" value="30"/>" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
  <param name="xmin" value="-5.0"/>
  <param name="ymin" value="-5.0"/>
  <param name="xmax" value="5.0"/>
  <param name="ymax" value="5.0"/>
  <param name="delta" value="0.1"/>
  <param name="llsamplerange" value="0.01"/>
  <param name="llsamplestep" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
  <param name="minimumScore" value="0.005"/>
</node>

3，move_base的应用

roslaunch mrobot_gazebo jian_robot_gazebo.launch

roslaunch mrobot_navigation jian_move_base.launch