ROS实验笔记之——基于gazebo的多机器人探索环境仿真

其他 2020-03-28 10:23:47 阅读次数: 0

之前博客《ROS学习笔记之——多机器人探索环境》介绍过一个名为explore_lite的机器人的包

本博文对其进行gazebo仿真分析

目录

实验

修改地方的说明

参考资料

实验

首先在包clone下来（这个包设置为私密了，想下载的读者可以直接下载源包https://github.com/hrnr/m-explore然后再做相应的改动）

cd /home/kwanwaipang/catkin_ws/src
git clone https://github.com/KwanWaiPang/multiple-robots-for-ROS.git
（git clone https://github-username:[email protected]/github-username/github-template-name.git）

但是却显示如下

最后还是下载zip好了，还没找到bug所在。。。。

然后cm一下

先按照博客《ROS实验笔记之——基于gazebo的ROS多机器人仿真》中那样来运行gazebo多机器人

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo m_turtlebot3_world.launch

然后开启新的终端运行

roslaunch explore_lite multi_explore.launch

然后报错如下

export TURTLEBOT3_MODEL=waffle

加上然后就可以了

但是存在问题是机器人只会原地转。。。。。

后面会通过实验再验证一下。但是个人感觉exploration好像没啥意义，探索出边界，倒不如结合一起做多机器人融合SLAM。机器人自动的运动，同时slam建图。

修改地方的说明

在原来的explore_lite（https://github.com/hrnr/m-explore）包的launch文件下，添加如下几个launch文件

原来的只有

这里只列出multi_explore.launch文件

<launch>

<!-- Argument -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="move_forward_only" default="false"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />

<group ns="tb3_0">
<!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" value="tb3_0" />
  </node>

<!-- move_base -->
  <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="$(find explore_lite)/param/first_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_0/global_costmap" />
    <rosparam file="$(find explore_lite)/param/first_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_0/local_costmap" />
    <rosparam file="$(find explore_lite)/param/first_local_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/first_global_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
    <remap from="cmd_vel" to="/tb3_0/cmd_vel"/>
    <remap from="odom" to="tb3_0/odom"/>
    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>

<!-- SLAM -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="/tb3_0/base_footprint"/>
    <param name="odom_frame" value="/tb3_0/odom"/>
    <param name="map_frame"  value="/tb3_0/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>

<!-- Explore -->
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
  <param name="robot_base_frame" value="/tb3_0/base_footprint"/>
  <param name="costmap_topic" value="/tb3_0/map"/>
  <param name="costmap_updates_topic" value="/tb3_0/map_updates"/>
  <param name="visualize" value="true"/>
  <param name="planner_frequency" value="0.33"/>
  <param name="progress_timeout" value="30.0"/>
  <param name="potential_scale" value="3.0"/>
  <param name="orientation_scale" value="0.0"/>
  <param name="gain_scale" value="1.0"/>
  <param name="transform_tolerance" value="0.3"/>
  <param name="min_frontier_size" value="0.75"/>
</node>
</group>

<group ns="tb3_1">
<!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>
  
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" value="tb3_1" />
  </node>

<!-- move_base -->
  <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="$(find explore_lite)/param/second_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_1/global_costmap" />
    <rosparam file="$(find explore_lite)/param/second_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_1/local_costmap" />
    <rosparam file="$(find explore_lite)/param/second_local_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/second_global_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
    <remap from="cmd_vel" to="/tb3_1/cmd_vel"/>
    <remap from="odom" to="/tb3_1/odom"/>
    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>

  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="/tb3_1/base_footprint"/>
    <param name="odom_frame" value="/tb3_1/odom"/>
    <param name="map_frame"  value="/tb3_1/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>

<!-- Explore -->
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
  <param name="robot_base_frame" value="/tb3_1/base_footprint"/>
  <param name="costmap_topic" value="/tb3_1/map"/>
  <param name="costmap_updates_topic" value="/tb3_1/map_updates"/>
  <param name="visualize" value="true"/>
  <param name="planner_frequency" value="0.33"/>
  <param name="progress_timeout" value="30.0"/>
  <param name="potential_scale" value="3.0"/>
  <param name="orientation_scale" value="0.0"/>
  <param name="gain_scale" value="1.0"/>
  <param name="transform_tolerance" value="0.3"/>
  <param name="min_frontier_size" value="0.75"/>
</node>
</group>

<group ns="tb3_2">
<!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>
  
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" value="tb3_2" />
  </node>

<!-- move_base -->
  <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="$(find explore_lite)/param/third_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_2/global_costmap" />
    <rosparam file="$(find explore_lite)/param/third_costmap_common_params_$(arg model).yaml" command="load" ns="/tb3_2/local_costmap" />
    <rosparam file="$(find explore_lite)/param/third_local_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/third_global_costmap_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find explore_lite)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
    <remap from="cmd_vel" to="/tb3_2/cmd_vel"/>
    <remap from="odom" to="/tb3_2/odom"/>
    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>

<!-- SLAM -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="/tb3_2/base_footprint"/>
    <param name="odom_frame" value="/tb3_2/odom"/>
    <param name="map_frame"  value="/tb3_2/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>

<!-- Explore -->
<node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
  <param name="robot_base_frame" value="/tb3_2/base_footprint"/>
  <param name="costmap_topic" value="/tb3_2/map"/>
  <param name="costmap_updates_topic" value="/tb3_2/map_updates"/>
  <param name="visualize" value="true"/>
  <param name="planner_frequency" value="0.33"/>
  <param name="progress_timeout" value="30.0"/>
  <param name="potential_scale" value="3.0"/>
  <param name="orientation_scale" value="0.0"/>
  <param name="gain_scale" value="1.0"/>
  <param name="transform_tolerance" value="0.3"/>
  <param name="min_frontier_size" value="0.75"/>
</node>
</group>

</launch>

参考资料

https://blog.csdn.net/kalenE992/article/details/92029294（github私密）

https://github.com/hrnr/m-explore（原来的包，本博文所用的包在其基础上改进）

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