一、SLAM建图
<launch>
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="scan"/>
<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.25"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance" value="1.0"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
二、地图保存
<launch>
<arg name="**" value="$(find **)/**/**" />
<node pkg="map_server" type="map_saver" name="map" args="-f $(arg **)" />
</launch>
三、读取保存的地图
<launch>
<node pkg="map_server" type="map_server" name="map_server" args="$(find **)/**/**.yaml" />
</launch>
四、读取到的地图的yaml文件格式
//声明地图资源的路径
image: room.pgm
//地图刻度尺单位是:米/像素
resolution: 0.010000
//地图的位姿(相对于rviz中的原点的位姿)
origin: [-11.560000, -12.520000, 0.000000]
//取反,白变黑
negate: 0
//大于占用阈值就视为障碍物,小于空闲阈值就视为可以通行
//占用阈值
occupied_thresh: 0.65
//空闲阈值
free_thresh: 0.196
五、amcl定位
<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.8"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>
六、move_base路径规划
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mbot_navigation)/config/mbot/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mbot_navigation)/config/mbot/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mbot_navigation)/config/mbot/base_local_planner_params.yaml" command="load" />
</node>
</launch>
下面的四个文件
1.base_local_planner_params
controller_frequency: 3.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
TrajectoryPlannerROS:
max_vel_x: 0.5
min_vel_x: 0.1
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.5
escape_vel: -0.1
acc_lim_x: 1.5
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: 0.1 # 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
2.costmap_common_params
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
footprint_inflation: 0.01
robot_radius: 0.175
inflation_radius: 0.15
max_obstacle_height: 0.6
min_obstacle_height: 0.0
#导航包所需要的传感器
observation_sources: scan
#对传感器的坐标系和数据进行配置
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}
3.global_costmap_params
global_costmap:
global_frame: map #地图坐标系
robot_base_frame: base_footprint #机器人坐标系
update_frequency: 1.0 #代价地图更新频率
publish_frequency: 1.0 #代价地图发布频率
static_map: true #是否需要静态地图
rolling_window: false #是否使用动态窗口
resolution: 0.01 #全局地图分辨率
transform_tolerance: 1.0 #等待坐标变换发布信息的超时时间
map_type: costmap
4.local_costmap_params
local_costmap:
global_frame: odom #里程计坐标系
robot_base_frame: base_footprint #机器人坐标系
update_frequency: 3.0 #代价地图更新频率
publish_frequency: 1.0 #代价地图发布频率
static_map: true #是否需要静态地图
rolling_window: false #是否使用动态窗口
width: 6.0 #局部地图宽度
height: 6.0 #局部地图高度
resolution: 0.01 #局部地图分辨率
transform_tolerance: 1.0 #等待坐标变换发布信息的超时时间