基于KCL的无人车任务规划

基于KCL的无人车任务规划

参考教程：

GitHub - KCL-Planning/ROSPlan: The ROSPlan framework provides a generic method for task planning in a ROS system.

https://www.ncnynl.com/archives/201910/3387.html

1. 查看系统环境

要运行本仿真程序，需要保证当前环境为ubuntu18.04，并安装好terminal终端程序以及vscode编程程序

查看ubuntu版本

rosnoetic@rosnoetic-VirtualBox:~$ lsb_release -a

No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 18.04.6 LTS
Release:	18.04
Codename:	bionic

可知，当前ubuntu版本满足18.04

2. 部署任务规划环境

安装依赖

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet ros-melodic-dwa-local-planner

安装rosplan功能包

rosnoetic@rosnoetic-VirtualBox:~$ mkdir -p car_rosplan/src

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/src/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan/src$ git clone https://github.com/KCL-Planning/rosplan

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan/src$ git clone https://github.com/clearpathrobotics/occupancy_grid_utils

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan/src$ git clone https://github.com/KCL-Planning/rosplan_demos.git

编译

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ catkin_make

安装turtlebot3 gazebo simulator仿真

rosnoetic@rosnoetic-VirtualBox:~$ sudo apt install ros-${ROS_DISTRO}-turtlebot3-gazebo ros-${ROS_DISTRO}-turtlebot3-navigation ros-${ROS_DISTRO}-move-base-msgs

在环境变量中写入小车模型，ctrl+alt+T打开终端，执行如下指令进入.bashrc 文件中修改

rosnoetic@rosnoetic-VirtualBox:~$ sudo gedit ~/.bashrc

在bashrc文件夹末尾添加如下代码：

export TURTLEBOT3_MODEL=burger

3. 启动任务规划

3.1 执行任务规划

ctrl+alt+T打开新的终端，启动roscore

rosnoetic@rosnoetic-VirtualBox:~$ roscore

ctrl+alt+T打开新的终端，启动仿真环境

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ source ./devel/setup.bash 

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ roslaunch rosplan_turtlebot3_demo turtlebot.launch

需要等待较长的时间才能完成gazebo的启动，启动后如下图所示：

调用生成的任务规划进行探索：

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ source ./devel/setup.bash 

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ rosrun rosplan_turtlebot3_demo turtlebot_explore.bash

有些时候会出现如下的错误，暂时还没有解决办法，或许是DWA算法的参数设置问题，如果出现了该问题，可以再重新执行

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ rosrun rosplan_turtlebot3_demo turtlebot_explore.bash

生成新的任务分配，可能会出现一次成功的任务分配过程，具体内容需要后续进一步研究。

3.2 测试自定义的导航点

ctrl+alt+T打开新的终端，启动roscore

rosnoetic@rosnoetic-VirtualBox:~$ roscore

ctrl+alt+T打开新的终端，启动仿真环境

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ source ./devel/setup.bash 

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ roslaunch rosplan_turtlebot3_demo turtlebot.launch

需要等待较长的时间才能完成gazebo的启动，启动后如下图所示：

调用自定义的任务规划进行探索：

下载vim编辑包

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ sudo apt install vim

执行如下指令可以编辑路径点配置文件

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ source ./devel/setup.bash 

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ rosed rosplan_turtlebot3_demo waypoints.yaml

执行如下指令测试自定义导航点

rosnoetic@rosnoetic-VirtualBox:~$ cd car_rosplan/

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ source ./devel/setup.bash 

rosnoetic@rosnoetic-VirtualBox:~/car_rosplan$ rosrun rosplan_turtlebot3_demo turtlebot_explore_wp_from_file.bash