2020/7/19 gazebo仿真导航

标准启动方法

//仿真导航
//需要在.bashrc文件中添加“export TURTLEBOT3_MODEL=burger”
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch //搭建仿真环境
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml  //导航，需要提前存储地图数据（不加参数也可以，文件中设置了默认地图）

参考 “https://www.ncnynl.com/archives/201707/1791.html”

实现效果

如图：（两个命令行与启动的gazebo与rviz），通过使用rviz中的“2D Nav Goal”可以控制仿真环境中的机器人前往目标位置。（但由于move_base建立的成本地图没有设置原始点，需要让机器人移动一段时间进行地图间的对齐，也有可能对不齐）。

如图，节点图：

自己的启动方法

顺便把/map_server节点换成gmapping建图，就基本实现了SLAM功能。

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch //搭建仿真环境
$ roslaunch turtlebot3_bringup turtlebot3_remote.launch  //构建tf树
//以下三个launch文件是自己从turtlebot3_navigation.launch中提取的，创建在当前目录下即可。
$ roslaunch move_base.launch  // 导航节点
$ roslaunch amcl.launch   // 定位节点 
$ roslaunch mapping.launch   // 建图节点

// amcl.launch 
<launch>
  <node pkg="amcl" type="amcl" name="amcl">

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="0"/>
    <param name="initial_pose_y"            value="0"/>
    <param name="initial_pose_a"            value="0"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="scan"/>
    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <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_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="odom"/>
    <param name="base_frame_id"             value="base_footprint"/>

  </node>
</launch>

// mapping.launch 
<launch>
  <node pkg="gmapping" type="slam_gmapping" name="my_mapping" output="screen">
    <param name="base_frame" value="base_footprint"/>
    <param name="odom_frame" value="odom"/>
    <param name="map_frame"  value="map"/>
	<param name="map_update_interval" value="2.0" />
	<param name="maxUrange" value="3.0" />
	<param name="sigma" value="0.05" />
	<param name="kernelSize" value="1" />
	<param name="lstep" value="0.05" />
	<param name="astep" value="0.05" />
	<param name="iterations" value="5" />
	<param name="lsigma" value="0.075" />
	<param name="ogain" value="3.0" />
	<param name="lskip" value="0" />
	<param name="minimumScore" value="50" />
	<param name="srr" value="0.1" />
	<param name="srt" value="0.2" />
	<param name="str" value="0.1" />
	<param name="stt" value="0.2" />
	<param name="linearUpdate" value="1.0" />
	<param name="angularUpdate" value="0.2" />
	<param name="temporalUpdate" value="0.5" />
	<param name="resampleThreshold" value="0.5" />
	<param name="particles" value="100" />
	<param name="xmin" value="-10.0" />
	<param name="ymin" value="-10.0" />
	<param name="xmax" value="10.0" />
	<param name="ymax" value="10.0" />
	<param name="delta" value="0.05" />
	<param name="llsamplerange" value="0.01" />
	<param name="llsamplestep" value="0.01" />
	<param name="lasamplerange" value="0.005" />
	<param name="lasamplestep" value="0.005" />
  </node>
</launch>

// move_base.launch 
<launch>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_burger.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_burger.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_burger.yaml" command="load" />
    <remap from="cmd_vel" to="/cmd_vel"/>
    <remap from="odom" to="odom"/>
  </node>
</launch>

…

执行效果

打开rviz，把各种界面调出来：/map，tf，Path等，可以使用“2D Nav Goal”控制小车移动，并同时进行建图。