turtlebot2自主导航move_base_grid调试记录

最新推荐文章于 2023-07-02 12:48:20 发布

sophies671207

最新推荐文章于 2023-07-02 12:48:20 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/sophies671207/article/details/85387719

版权

本文档记录了turtlebot2使用move_base_grid进行自主导航的调试过程，包括在多个终端中分别运行不同节点，如turtlebot节点、启动其他节点，以及导航程序的执行。此外，还提到了源码中的launch文件、cpp文件，以及如何通过rqt_graph检查节点间的消息交互。在遇到障碍物时，机器人会自动调整方向并前进1米。

摘要由CSDN通过智能技术生成

1.terminal1,运行

roscore

2.turminal2 运行turtlebot节点

roslaunch turtlebot_bringup minimal.launch

3.terminal3启动其他一系列节点

roslaunch rbx1_nav wfmovebase_grid.launch

4.运行导航程序

rosrun turtlebot_navigation send_goal

/
源码：
wfmovebase_grid.launch

<launch>
  <!-- Run the map server with a blank map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/blank_map.yaml"/>
  
  <param name="use_sim_time" value="false" />

  <!-- Set the name of the map yaml file: can be overridden on the command line. -->
  <arg name="map" default="test_map.yaml" />

    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
    <remap from="cmd_vel" to="/cmd_vel_mux/input/navi">
    <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find rbx1_nav)/config/fake/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find rbx1_nav)/config/fake/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find rbx1_nav)/config/fake/base_local_planner_params.yaml" command="load" />
  </node>

  <!-- Run a static transform between /odom and /map -->
  <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />

</launch>

package.xml

<package>

  <name>turtlebot_navigation</name>

  <version>2.3.7</version>

  <description>turtlebot_navigation</description>

  <maintainer email="turtlebot@osrfoundation.org">OSRF</maintainer>

  <license>BSD</license>

  <url type="website">http://ros.org/wiki/turtlebot_navigation</url>

  <url type="repository">https://github.com/turtlebot/turtlebot_apps</url>

  <url type="bugtracker">https://github.com/turtlebot/turtlebot_apps/issues</url>

  <author>Tully Foote</author>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>tf</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <run_depend>tf</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>move_base</run_depend>
  <run_depend>map_server</run_depend>  
  <run_depend>amcl</run_depend>
  <run_depend>gmapping</run_depend>
  <run_depend>turtlebot_bringup</run_depend>
  <run_depend>dwa_local_planner</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>kobuki_msgs</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <export>
  </export>
</package>