ROS2教程turtlebot3仿真

安装turtlebot3

首先需要安装Gazebo turtlebot3

sudo apt-get install ros-foxy-gazebo-*
sudo apt install ros-foxy-turtlebot3
sudo apt install ros-foxy-turtlebot3-simulations

添加环境变量

vim ~/.bashrc

export TURTLEBOT3_MODEL=burger

启动仿真环境

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

绘图

打开rviz准备绘图

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

打开键盘绘制节点控制机器人移动绘制地图

 ros2 run turtlebot3_teleop teleop_keyboard

保存建好的地图

ros2 run nav2_map_server map_saver_cli -f ~/ROS2/map/tutorial

关闭所有窗口后执行下面命令

导航

打开下面launch文件

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true 

在rviz 在其上方工具栏中有2D Pose estimate，用来设置大概的初始点
通过RViz中的navigation2 goal按钮，发送一个目标位置。然后自动规划路线到达目的的

简单的自动避障

通过订阅/scan话题获取正前方的距离与发布/cmd_vel话题的速度控制可以实现一个简单的避障功能，距离前方距离小于1m停止前进并转动，就这样一直循环下去就可以避障了，但是

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
import time

class AvoidOb(Node):
    def __init__(self):
        self.disp = 0

        super().__init__("avoid_node")
        self.subLidar = self.create_subscription(
            LaserScan,
            'scan',
            self.listener_callback,
            10
        )
        self.pubVel = self.create_publisher(
            Twist,
            'cmd_vel',
            10
        )
        self.time = self.create_timer(1,self.time_callback)

    def time_callback(self):
        vel = Twist()

        if self.disp < 1:
            vel.angular.z = 0.3
        else:
            vel.linear.x = 0.3
        self.pubVel.publish(vel)

        self.get_logger().info(f'disp:{self.disp},send vel: {vel.linear.x},{vel.angular.z}')

    def listener_callback(self,msg):
        self.disp = msg.ranges[0]
      

def main(args=None):
    rclpy.init(args=args)
    fun = AvoidOb()
    rclpy.spin(fun)
    fun.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

航向锁定

通过订阅/imu话题可以获取机器人的角度信息，再通过发布cmd_vel话题控制机器人的航向
安装四元数转换工具

sudo apt install ros-foxy-tf-transformations
sudo pip3 install transforms3d

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Imu
from geometry_msgs.msg import Twist
from tf_transformations import euler_from_quaternion
import math

class AvoidOb(Node):
    def __init__(self):
        self.target_yaw = 45

        super().__init__("imu_node")
        self.subLidar = self.create_subscription(
            Imu,
            'imu',
            self.listener_callback,
            10
        )
        self.pubVel = self.create_publisher(
            Twist,
            'cmd_vel',
            10
        )

    def listener_callback(self,msg):
        if msg.orientation_covariance[0] < 0:
            return
        quaternion = [
            msg.orientation.x,
            msg.orientation.y,
            msg.orientation.z,
            msg.orientation.w,
        ]
        [pitch,row,yaw] = euler_from_quaternion(quaternion)
        pitch = pitch*180/math.pi
        row = row*180/math.pi
        yaw = yaw*180/math.pi

        diff = self.target_yaw - yaw 
        vel_cmd = Twist()
        vel_cmd.angular.z = diff * 0.01
        self.pubVel.publish(vel_cmd)

        self.get_logger().info(f'pitch:{pitch},row:{row},yaw:{yaw}. angularZ:{vel_cmd.angular.z}')

def main(args=None):
    rclpy.init(args=args)
    fun = AvoidOb()
    rclpy.spin(fun)
    fun.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

运行代码机器人将转动45度并固定角度