建造属于你的无人驾驶车——（十四）源码安装导航算法，并创建Move_base导航参数文件

建造属于你的无人驾驶车！
本专栏持续更新中…
程序源码：https://github.com/kkmd66/ZZX_RUN
Solidworks模型文件：https://github.com/kkmd66/ZZX_RUN/releases/tag/ZZX_RUN_Solidworks

第一步，源码安装导航算法

源码地址：https://github.com/kkmd66/ZZX_RUN/tree/main/navigation
下载后，放入工作空间，catkin_make进行编译，时间较长，骚等片刻…

第二步，创建Move_base导航参数文件

虚拟导航：

base_local_planner_params.yaml:

文件位置：zzx_run_navigation/config/fake/base_local_planner_params.yaml

controller_frequency: 3.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false

TrajectoryPlannerROS:
   max_vel_x: 2.0
   min_vel_x: 0.1
   max_vel_y: 0.0  # zero for a differential drive robot
   min_vel_y: 0.0
   max_vel_theta: 2.0
   min_vel_theta: -2.0
   min_in_place_vel_theta: 0.4
   escape_vel: -0.1
   acc_lim_x: 1.0
   acc_lim_y: 0.0  # zero for a differential drive robot
   acc_lim_theta: 1.2

   holonomic_robot: false
   yaw_goal_tolerance: 0.1 # about 6 degrees
   xy_goal_tolerance: 0.05  # 5 cm
   latch_xy_goal_tolerance: false
   pdist_scale: 0.4
   gdist_scale: 0.8
   meter_scoring: true

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

   sim_time: 1.0
   sim_granularity: 0.05
   angular_sim_granularity: 0.1
   vx_samples: 8
   vy_samples: 0  # zero for a differential drive robot
   vtheta_samples: 20
   dwa: true
   simple_attractor: false

costmap_common_params.yaml:

文件位置：zzx_run_navigation/config/fake/costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.557155, 0.415605], [0.557155, -0.415605], [-0.557155, -0.415605], [-0.557155, 0.415605]]
#footprint_inflation: 0.01
# robot_radius: 0.175
inflation_radius: 0.415605
max_obstacle_height: 2.0
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:

文件位置：zzx_run_navigation/config/fake/global_costmap_params.yaml

global_costmap:
   global_frame: map
   robot_base_frame: base_footprint
   update_frequency: 1.0
   publish_frequency: 1.0
   static_map: true
   rolling_window: false
   resolution: 0.01
   transform_tolerance: 1.0
   map_type: costmap

lobal_costmap_params.yaml:

文件位置：zzx_run_navigation/config/fake/lobal_costmap_params.yaml

local_costmap:
   global_frame: map
   robot_base_frame: base_footprint
   update_frequency: 3.0
   publish_frequency: 1.0
   static_map: true
   rolling_window: false
   width: 6.0
   height: 6.0
   resolution: 0.01
   transform_tolerance: 1.0

仿真导航：

base_local_planner_params.yaml:

文件位置：zzx_run_navigation/config/real/base_local_planner_params.yaml

controller_frequency: 3.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false

TrajectoryPlannerROS:
   max_vel_x: 1.5
   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: 1.0
   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: 0.1  # 10 cm
   latch_xy_goal_tolerance: false
   pdist_scale: 0.9
   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: 1.0
   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:

文件位置：zzx_run_navigation/config/real/costmap_common_params.yaml

obstacle_range: 5.0
  raytrace_range: 5.0
  footprint: [[0.557155, 0.415605], [0.557155, -0.415605], [-0.557155, -0.415605], [-0.557155, 0.415605]]
  footprint_inflation: 0.01
  # robot_radius: 0.175
  inflation_radius: 0.415605
  max_obstacle_height: 2.0
  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:

文件位置：zzx_run_navigation/config/real/global_costmap_params.yaml

global_costmap:
   global_frame: map
   robot_base_frame: base_footprint
   update_frequency: 1.0
   publish_frequency: 0.5
   static_map: true
   rolling_window: false
   resolution: 0.01
   transform_tolerance: 1.0
   map_type: costmap

lobal_costmap_params.yaml:

文件位置：zzx_run_navigation/config/real/lobal_costmap_params.yaml

local_costmap:
   global_frame: odom
   robot_base_frame: base_footprint
   update_frequency: 3.0
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.01
   transform_tolerance: 1.0
   map_type: costmap

最后

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