在Pioneer3at上运行move_base

这是一篇真博客,LZ三月中旬开始接触ROS,当然中间也有七七八八一些事情,有所耽搁,所以进度不是很快.一开始是朝着三维建图方向,后面导师说还要加上导航,恩(^o^)/~ 那就学ros当中的navigation的部分呗.后来发现,LZ还是太年轻了,通常情况下navigation要包括move_base部分,然后就开始了参数的配置.

后来LZ发现,如果想要基本用起来ROS,launch文件特别重要,所以之前LZ写了一篇关于launch文件的介绍,如果小伙伴不是很清楚,可以看下https://blog.csdn.net/felaim/article/details/80244232,这篇文章还是蛮重要的.

对大神来说这篇博客可能很简单,LZ是ROS新手,所以事无巨细,能记录下来就记录下来.而且LZ的机器人是Pioneer3at,网上都是turblet的教程,对LZ来说并不适用.所以配置文件需要修改参数.下面就一步一步进行记录.

首先第一步

roscore

第二步:
到对应的ros工作空间下运行,LZ的是如下,嘿嘿,有felaim的标签啦:

roslaunch felaim_2dnav felaim_robot.launch

felaim_robot.launch,使用rosaria节点的时候要加上之前进行线速度和角速度校正的系数

<launch>



<!-- Starting rosaria driver for motors and encoders -->
  <node name="rosaria" pkg="rosaria" type="RosAria" args="_port:=/dev/ttyUSB0">
  <param name="DriftFactor" value="0"/>
  <param name="TicksMM" value="138"/>
  <param name="RevCount" value="16485"/>
  <remap from="rosaria/cmd_vel" to="cmd_vel"/>
  <remap from="rosaria/pose" to="odom"/>
  </node>

<!-- Launching p2os RobotModel -->
  <include file="$(find felaim_2dnav)/launch/pioneer3at_urdf.launch"/>

</launch>

这个launch是连接pioneer3at和电脑的,并且下载对应的pioneer3at和kinect的模型

第三步:
启动kinect,并把对应的点云转换成对应的laser

roslaunch felaim_2dnav pioneer3at_fake_laser

pioneer3at_fake_laser_freenect.launch

<launch>
  <!-- Launch the freenect driver -->
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <!-- Don't publish the camera frames when using with the Turtlebot -->
    <arg name="publish_tf"                      value="false" /> 

    <!-- use device registration -->
    <arg name="depth_registration"              value="true" /> 

    <arg name="rgb_processing"                  value="true" />
    <arg name="ir_processing"                   value="false" />
    <arg name="depth_processing"                value="false" />
    <arg name="depth_registered_processing"     value="true" />
    <arg name="disparity_processing"            value="false" />
    <arg name="disparity_registered_processing" value="false" />
    <arg name="sw_registered_processing"        value="false" />
    <arg name="hw_registered_processing"        value="true" />

  </include>
  <!-- Run the depthimage_to_laserscan node -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
    <remap from="image" to="/camera/depth_registered/image_raw" />
    <remap from="camera_info" to="/camera/depth_registered/camera_info" />
    <remap from="scan" to="/scan" />
    <param name="output_frame_id" value="/camera_depth_frame" />
  </node>

</launch>

第四步:
启动move_base节点

roslaunch felaim_2dnav tb_move_base_link_map.launch

tb_move_base_blank_map.launch

<launch>
  <!-- Launch move_base and load all navigation parameters -->
  <include file="$(find felaim_2dnav)/launch/tb_move_base.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" />

  <!-- 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>

第五步:
对导航进行可视化:

rosrun rviz rviz -d `rospack felaim_2dnav`/launch/pioneer3at_kinect.rviz

pioneer3at_kinect.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Inflated Obstacles1
      Splitter Ratio: 0.5
    Tree Height: 565
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_depth_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_depth_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        camera_rgb_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        camera_rgb_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        p3at_back_left_axle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_back_left_hub:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_back_left_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_back_right_axle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_back_right_hub:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_back_right_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_left_axle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_left_hub:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_left_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_right_axle:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_right_hub:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        p3at_front_right_wheel:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        top_plate:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: ""
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.3
      Head Length: 0.2
      Length: 0.3
      Line Style: Lines
      Line Width: 0.03
      Name: Global_Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.03
      Shaft Diameter: 0.1
      Shaft Length: 0.1
      Topic: /move_base/TrajectoryPlannerROS/global_plan
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: true
      Head Diameter: 0.3
      Head Length: 0.2
      Length: 0.3
      Line Style: Lines
      Line Width: 0.03
      Name: Local_Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.03
      Shaft Diameter: 0.1
      Shaft Length: 0.1
      Topic: /move_base/TrajectoryPlannerROS/local_plan
      Unreliable: false
      Value: true
    - Angle Tolerance: 0.1
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 100
      Length: 1
      Name: Odometry
      Position Tolerance: 0.1
      Topic: /odom
      Value: true
    - Arrow Length: 0.3
      Class: rviz/PoseArray
      Color: 255; 25; 0
      Enabled: true
      Name: PoseArray
      Topic: ""
      Unreliable: false
      Value: true
    - Alpha: 1
      Class: rviz/Map
      Color Scheme: costmap
      Draw Behind: false
      Enabled: true
      Name: Inflated Obstacles
      Topic: /move_base/local_costmap/costmap
      Unreliable: false
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Mouse Goal
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Arrow
      Topic: /move_base/current_goal
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 2.1996
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.484797
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.85538
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 846
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002e5000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1200
  X: 76
  Y: 181

这里写图片描述

白色的是转换的laser数据, 蓝色的是膨胀后的安全距离,pioneer3at的模型如图所示,仔细看还可以发现kinect,模型中的tf变化和实际的测量相同.

哈哈,如果小伙伴有耐心,应该就能看到最后的效果图~(≧▽≦)/~啦啦啦,虽然简单,但是还是成就感满满^_^

在Pioneer3at上运行move_base

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