新建launch文件
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_gazebo/launch$
roslaunch mbot_gazebo nav_gmapping_view_mbot_gazebolaserandcamera_room.launch
<launch>
<!-- 设置launch文件的参数 -->
<arg name="world_name" value="$(find mbot_gazebo)/worlds/cloister.world"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 运行gazebo仿真环境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加载机器人模型描述参数 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_2laserandcamera_gazebo.xacro'" />
<!-- 运行joint_state_publisher节点，发布机器人的关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 运行robot_state_publisher节点，发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加载机器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mbot -param robot_description"/>
<include file="$(find mbot_navigation)/launch/gmapping.launch"/>
<!-- 运行move_base节点 -->
<include file="$(find mbot_navigation)/launch/move_base.launch" />
<!-- 运行rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/nav.rviz"/>
</launch>
~
新建机器人模型文件:
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_description/urdf/xacro/gazebo$
**mbot_with_2laserandcamera_gazebo.xacro **
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_2base_gazebo.xacro" />
<xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
<xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" />
<xacro:property name="lidar_offset_x" value="0" />
<xacro:property name="lidar_offset_y" value="0" />
<xacro:property name="lidar_offset_z" value="0.20" />
<xacro:property name="camera_offset_x" value="0.17" />
<xacro:property name="camera_offset_y" value="0" />
<xacro:property name="camera_offset_z" value="0.0775" />
<!-- lidar -->
<joint name="lidar_joint" type="fixed">
<origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
<parent link="head"/>
<child link="laser_link"/>
</joint>
<xacro:rplidar prefix="laser"/>
<gazebo reference="laser_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- Camera -->
<joint name="camera_joint" type="fixed">
<origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<xacro:usb_camera prefix="camera"/>
<gazebo reference="camera_link">
<material>Gazebo/Green</material>
</gazebo>
<mbot_base_gazebo/>
</robot>
新建机器人基础模型文件
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_description/urdf/xacro/gazebo$
mbot_2base_gazebo.xacro
<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- PROPERTY LIST -->
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="base_mass" value="20" />
<xacro:property name="base_radius" value="0.20"/>
<xacro:property name="base_length" value="0.16"/>
<xacro:property name="base_link_length" value="0.35"/>
<xacro:property name="base_link_width" value="0.22"/>
<xacro:property name="base_link_high" value="0.115"/>
<xacro:property name="head_length" value="0.21"/>
<xacro:property name="head_width" value="0.10"/>
<xacro:property name="head_high" value="0.05"/>
<xacro:property name="head_mass" value="0.25" />
<xacro:property name="wheel_mass" value="2" />
<xacro:property name="wheel_radius" value="0.08"/>
<xacro:property name="wheel_length" value="0.04"/>
<xacro:property name="wheel_joint_y" value="0.21"/>
<xacro:property name="wheel_joint_z" value="0.07"/>
<xacro:property name="caster_mass" value="0.5" />
<xacro:property name="caster_radius" value="0.045"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
<xacro:property name="caster_joint_x" value="0.18"/>
<!-- Defining the colors used in this robot -->
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 0.95"/>
</material>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<!-- Macro for inertia matrix -->
<xacro:macro name="sphere_inertial_matrix" params="m r">
<inertial>
<mass value="${m}" />
<inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
iyy="${2*m*r*r/5}" iyz="0"
izz="${2*m*r*r/5}" />
</inertial>
</xacro:macro>
<xacro:macro name="cylinder_inertial_matrix" params="m r h">
<inertial>
<mass value="${m}" />
<inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
izz="${m*r*r/2}" />
</inertial>
</xacro:macro>
<xacro:macro name="Box_inertial_matrix" params="m l w h">
<inertial>
<mass value="${m}" />
<inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"
iyy="${m*(w*w + l*l)/12}" iyz= "0"
izz="${m*(w*w + h*h)/12}" />
</inertial>
</xacro:macro>
<!-- Defining the Robot white seat -->
<joint name="head_joint" type="fixed">
<origin xyz=" 0 0 ${(base_link_high + head_high)/2}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="head"/>
</joint>
<link name="head">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size ="${head_length} ${head_width} ${head_high}" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0 0 ${(base_link_high + head_high)/2}" rpy="0 0 0" />
<geometry>
<box size ="${head_length} ${head_width} ${head_high}" />
</geometry>
</collision>
<Box_inertial_matrix m="${head_mass}" l="${head_length}" w="${head_width}" h="${head_high}" />
</link>
<gazebo reference="head">
<material>Gazebo/White</material>
</gazebo>
<!-- Macro for robot wheel -->
<xacro:macro name="wheel" params="prefix reflect">
<joint name="${prefix}_wheel_joint" type="continuous">
<origin xyz="0 ${reflect*(base_link_width+wheel_length)/2} ${-wheel_joint_z}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
</geometry>
</collision>
<cylinder_inertial_matrix m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
</link>
<gazebo reference="${prefix}_wheel_link">
<material>Gazebo/Gray</material>
</gazebo>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="${prefix}_wheel_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_wheel_joint" >
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_wheel_joint_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- Macro for robot caster -->
<xacro:macro name="caster" params="prefix reflect">
<joint name="${prefix}_caster_joint" type="continuous">
<origin xyz="${reflect*caster_joint_x} 0 ${-(base_link_high/2 + caster_radius)}" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="${prefix}_caster_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${prefix}_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${caster_radius}" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${caster_radius}" />
</geometry>
</collision>
<sphere_inertial_matrix m="${caster_mass}" r="${caster_radius}" />
</link>
<gazebo reference="${prefix}_caster_link">
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
<xacro:macro name="mbot_base_gazebo">
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<gazebo reference="base_footprint">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${base_link_high/2 + caster_radius*2}" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<box size="${base_link_length} ${base_link_width} ${base_link_high}"/>
</geometry>
<material name="blue" />
</visual>
<collision>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<box size="${base_link_length} ${base_link_width} ${base_link_high}"/>
</geometry>
</collision>
<Box_inertial_matrix m="${base_mass}" l="${base_link_length}" w="${base_link_width}" h="${base_link_high}" />
</link>
<gazebo reference="base_link">
<material>Gazebo/Blue</material>
</gazebo>
<wheel prefix="left" reflect="-1"/>
<wheel prefix="right" reflect="1"/>
<caster prefix="front" reflect="-1"/>
<caster prefix="back" reflect="1"/>
<!-- controller -->
<gazebo>
<plugin name="differential_drive_controller"
filename="libgazebo_ros_diff_drive.so">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>true</publishWheelTF>
<robotNamespace>/</robotNamespace>
<publishTf>1</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<legacyMode>true</legacyMode>
<leftJoint>left_wheel_joint</leftJoint>
<rightJoint>right_wheel_joint</rightJoint>
<wheelSeparation>${wheel_joint_y*2}</wheelSeparation>
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<broadcastTF>1</broadcastTF>
<wheelTorque>30</wheelTorque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic>
<odometryFrame>odom</odometryFrame>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
</xacro:macro>
新建move_base导航软件launch文件
</robot>
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_navigation/launch$
move_base.launch
<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="$(find mbot_navigation)/config/mbot/base_local_planner_params.yaml" command="load" />
</node>
</launch>
新建自己巡查导航.py文件
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_navigation/scripts$
exploring_slam.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import roslib;
import rospy
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, PoseWithCovarianceStamped, Point, Quaternion, Twist
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from random import sample
from math import pow, sqrt
class NavTest():
def __init__(self):
rospy.init_node('exploring_slam', anonymous=True)
rospy.on_shutdown(self.shutdown)
# 在每个目标位置暂停的时间 (单位：s)
self.rest_time = rospy.get_param("~rest_time", 2)
# 是否仿真？
self.fake_test = rospy.get_param("~fake_test", True)
# 到达目标的状态
goal_states = ['PENDING', 'ACTIVE', 'PREEMPTED',
'SUCCEEDED', 'ABORTED', 'REJECTED',
'PREEMPTING', 'RECALLING', 'RECALLED',
'LOST']
# 设置目标点的位置
# 在rviz中点击 2D Nav Goal 按键，然后单击地图中一点
# 在终端中就会看到该点的坐标信息
locations = dict()
locations['1'] = Pose(Point(4.589, -0.376, 0.000), Quaternion(0.000, 0.000, -0.447, 0.894))
locations['2'] = Pose(Point(4.231, -6.050, 0.000), Quaternion(0.000, 0.000, -0.847, 0.532))
locations['3'] = Pose(Point(-0.674, -5.244, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000))
locations['4'] = Pose(Point(-5.543, -4.779, 0.000), Quaternion(0.000, 0.000, 0.645, 0.764))
locations['5'] = Pose(Point(-4.701, -0.590, 0.000), Quaternion(0.000, 0.000, 0.340, 0.940))
locations['6'] = Pose(Point(2.924, 0.018, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000))
# 发布控制机器人的消息
self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)
# 订阅move_base服务器的消息
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
rospy.loginfo("Waiting for move_base action server...")
# 60s等待时间限制
self.move_base.wait_for_server(rospy.Duration(60))
rospy.loginfo("Connected to move base server")
# 保存机器人的在rviz中的初始位置
initial_pose = PoseWithCovarianceStamped()
# 保存成功率、运行时间、和距离的变量
n_locations = len(locations)
n_goals = 0
n_successes = 0
i = n_locations
distance_traveled = 0
start_time = rospy.Time.now()
running_time = 0
location = ""
last_location = ""
# 确保有初始位置
while initial_pose.header.stamp == "":
rospy.sleep(1)
rospy.loginfo("Starting navigation test")
# 开始主循环，随机导航
while not rospy.is_shutdown():
# 如果已经走完了所有点，再重新开始排序
if i == n_locations:
i = 0
sequence = sample(locations, n_locations)
# 如果最后一个点和第一个点相同，则跳过
if sequence[0] == last_location:
i = 1
# 在当前的排序中获取下一个目标点
location = sequence[i]
# 跟踪行驶距离
# 使用更新的初始位置
if initial_pose.header.stamp == "":
distance = sqrt(pow(locations[location].position.x -
locations[last_location].position.x, 2) +
pow(locations[location].position.y -
locations[last_location].position.y, 2))
else:
rospy.loginfo("Updating current pose.")
distance = sqrt(pow(locations[location].position.x -
initial_pose.pose.pose.position.x, 2) +
pow(locations[location].position.y -
initial_pose.pose.pose.position.y, 2))
initial_pose.header.stamp = ""
# 存储上一次的位置，计算距离
last_location = location
# 计数器加1
i += 1
n_goals += 1
# 设定下一个目标点
self.goal = MoveBaseGoal()
self.goal.target_pose.pose = locations[location]
self.goal.target_pose.header.frame_id = 'map'
self.goal.target_pose.header.stamp = rospy.Time.now()
# 让用户知道下一个位置
rospy.loginfo("Going to: " + str(location))
# 向下一个位置进发
self.move_base.send_goal(self.goal)
# 五分钟时间限制
finished_within_time = self.move_base.wait_for_result(rospy.Duration(300))
# 查看是否成功到达
if not finished_within_time:
self.move_base.cancel_goal()
rospy.loginfo("Timed out achieving goal")
else:
state = self.move_base.get_state()
if state == GoalStatus.SUCCEEDED:
rospy.loginfo("Goal succeeded!")
n_successes += 1
distance_traveled += distance
rospy.loginfo("State:" + str(state))
else:
rospy.loginfo("Goal failed with error code: " + str(goal_states[state]))
# 运行所用时间
running_time = rospy.Time.now() - start_time
running_time = running_time.secs / 60.0
# 输出本次导航的所有信息
rospy.loginfo("Success so far: " + str(n_successes) + "/" +
str(n_goals) + " = " +
str(100 * n_successes/n_goals) + "%")
rospy.loginfo("Running time: " + str(trunc(running_time, 1)) +
" min Distance: " + str(trunc(distance_traveled, 1)) + " m")
rospy.sleep(self.rest_time)
def update_initial_pose(self, initial_pose):
self.initial_pose = initial_pose
def shutdown(self):
rospy.loginfo("Stopping the robot...")
self.move_base.cancel_goal()
rospy.sleep(2)
self.cmd_vel_pub.publish(Twist())
rospy.sleep(1)
def trunc(f, n):
slen = len('%.*f' % (n, f))
return float(str(f)[:slen])
if __name__ == '__main__':
try:
NavTest()
rospy.spin()
except rospy.ROSInterruptException:
rospy.loginfo("Exploring SLAM finished.")
实现功能执行的两个命令
roslaunch mbot_gazebo nav_gmapping_view_mbot_gazebolaserandcamera_room.launch
rosrun mbot_navigation exploring_slam.py
执行完命令的截图
机器人自主巡查，Rviz和GazeBo的仿真效果
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