一、环境配置
参考turtlebot3-多机交互程序:多机交互-创客智造
上位机和小车的基本通信配置见:静态IP+host/master设置
主体代码可访问github:ros-multi-robot
git clone https://github.com/shunyiwang/ROS_MULTI/MULTI_ROBOT.git
小车:
- Ubuntu-mate16.04+ROSkinetic;
- 必要的bringup.launch文件(包括雷达信息、IMU、编码器信息、电器驱动),详情见bringup详解。
上位机:
- Ubuntu16.04+ROSkinetic
- 安装多机地图合并软件包ros-kinetic-multirobot-map-merge:
sudo apt-get install ros-kinetic-multirobot-map-merge
- 安装turtlebot3源码:turtlebot3源码安装;
- 需添加turbot3源码:
git clone https://github.com/ROBOTIS-GIT/turbot3.git
cd ~/catkin_ws && catkin_make
二、主要命令
- 开启小车底盘和雷达(小车端),其他小车同理:
roslaunch clbrobot robot.launch robot_name:="robot1"
- 开启单个小车的slam建图并设定初始位置和建图算法(以下均在上位机端运行):
roslaunch multi_slam multi_slam.launch robot_name:="robot1" robot_y_pos:="10.0" slam_methods:=gmapping
- 开启键盘控制:
roslaunch multi_slam keyboard.launch robot_name:="robot1"
- 运行多机建图并打开rviz:
roslaunch multi_slam map_merge.launch
- 完成多机建图后保存地图
rosrun map_server map_saver -f /home/catkin_ws/src/multi_robot/map
- 修改 map.yaml 中的 origin 为:
origin: [0.000000, 0.000000, 0.000000]
三、模块分析
multi_slam.launch 代码如下:
<launch>
<arg name="robot_name" default=""/>
<arg name="robot_x_pos" default="0.0"/>
<arg name="robot_y_pos" default="0.0"/>
<arg name="robot_z_pos" default="0.0"/>
<arg name="robot_yaw" default="0.0"/>
<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, hector, karto]"/>
<!-- robot_model -->
<include file="$(find robot_model)/model_robot.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
</include>
<!-- init_pose -->
<include file="$(find multi_slam)/launch/init_pose.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="robot_x_pos" value="$(arg robot_x_pos)"/>
<arg name="robot_y_pos" value="$(arg robot_y_pos)"/>
<arg name="robot_z_pos" value="$(arg robot_z_pos)"/>
<arg name="robot_yaw" value="$(arg robot_yaw)" />
</include>
<!-- slam_methods -->
<include file="$(find multi_slam)/launch/slam.launch">
<arg name="robot_name" value="$(arg robot_name)"/>
<arg name="slam_methods" value="$(arg slam_methods)"/>
</include>
</launch>
map_merge.launch 代码如下:
<launch>
<!-- multirobot_map_merge -->
<node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">
<param name="robot_map_topic" value="map"/>
<param name="robot_namespace" value="robot"/>
<param name="merged_map_topic" value="map"/>
<param name="world_frame" value="map"/>
<param name="known_init_poses" value="true"/>
<param name="merging_rate" value="0.5"/>
<param name="discovery_rate" value="0.05"/>
<param name="estimation_rate" value="0.1"/>
<param name="estimation_confidence" value="1.0"/>
</node>
<!-- multirobot_rviz -->
<include file="$(find multi_slam)/launch/multi_rviz.launch"/>
</launch>
四、实现效果
rqt_tf_tree
rqt_graph
rviz效果图
建图结果
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