Navigation包中的move_base和amcl实现自动驾驶

最新推荐文章于 2024-04-24 13:40:57 发布

合工大机器人实验室

最新推荐文章于 2024-04-24 13:40:57 发布

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分类专栏： ROS实战

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安装导航定位包，navigation:
sudo apt-get install ros-indigo-navigation
由于导航包在/cmd_val下发布的移动数据加速度会过于不友好，所以我们需要对速度做平滑处理，其实就是控制加速，一般通过滤波即可实现，在此我们采用turtlebot的平滑包即可安装平滑包yocs_velocity_smoother,具体的平滑算法和输入切换请自己阅读源码 :
sudo apt-get install ros-indigo-yocs-velocity-smoother
在小车的运动控制的launch中如下添加:

<include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
</include>

导航包（move_base）和定位(amcl)的启动文件:nav_amcl.launch
<launch
<param name="use_sim_time" value="false" />

<arg name="map" default="map.yaml" />


<node name="map_server" pkg="map_server" type="map_server" args="$(find odom_tf_package)/maps/$(arg map)"/>

<include file="$(find odom_tf_package)/launch/move_base_amcl.launch" />

<include file="$(find odom_tf_package)/launch/tb_amcl.launch" />
</launch>

move_base_amcl.launch:
<launch>

tb_amcl.launch:
<launch>

4.导航的配置参数如下：
base_local_planner_params.yaml

   controller_frequency: 2.0
   recovery_behavior_enabled: false
   clearing_rotation_allowed: false

   TrajectoryPlannerROS:
   max_vel_x: 0.3
   min_vel_x: 0.05
   max_vel_y: 0.0 # zero for a differential drive robot
   min_vel_y: 0.0
   min_in_place_vel_theta: 0.5
   escape_vel: -0.1
   acc_lim_x: 2.5
   acc_lim_y: 0.0 # zero for a differential drive robot
   acc_lim_theta: 3.2

   holonomic_robot: false
   yaw_goal_tolerance: 0.1 # about 6 degrees
   xy_goal_tolerance: 0.15 # 10 cm
   latch_xy_goal_tolerance: false
   pdist_scale: 0.8
   gdist_scale: 0.6
   meter_scoring: true

   heading_lookahead: 0.325
   heading_scoring: false
   heading_scoring_timestep: 0.8
   occdist_scale: 0.1
   oscillation_reset_dist: 0.05
   publish_cost_grid_pc: false
   prune_plan: true

   sim_time: 2.5
   sim_granularity: 0.025
   angular_sim_granularity: 0.025
   vx_samples: 8
   vy_samples: 0 # zero for a differential drive robot
   vtheta_samples: 20
   dwa: true
   simple_attractor: false

costmap_common_params.yaml

   obstacle_range: 2.5
   raytrace_range: 3.0
   robot_radius: 0.30
   inflation_radius: 0.15
   max_obstacle_height: 0.6
   min_obstacle_height: 0.0
   observation_sources: scan
   scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap_params.yaml
   global_costmap:
   global_frame: /map
   robot_base_frame: /base_link
   update_frequency: 1.0
   publish_frequency: 0
   static_map: true
   rolling_window: false
   resolution: 0.01
   transform_tolerance: 0.5
   map_type: costmap

local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 1.0
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.01
transform_tolerance: 0.5
map_type: costmap

四，准备好以上所有的启动文件和配置参数后，我们开始创建地图和导航，
1.创建地图：
roslaunch ros_car_py ros_car_py.launch //启动地盘控制器
roscd odom_tf_package/maps/
rosrun map_server map_saver -f map
然后会产生以下地图文件
map.pgm map.yaml

2.开始导航
roslaunch ros_car_py nav_amcl.launch map:=map.yaml
然后指定导航目标，因为我的TF变换主要是里程计更新的，车体打滑或者地盘电机震荡都会积累误差，
所以我们必须添加视觉里成计或者闭环检测。
在rviz中点击菜单栏的2D Nav Goal,可以帮助我们设置导航的目标点