如何进行多机的网络设置
网络设置
http://wiki.ros.org/ROS/NetworkSetup
http://wiki.ros.org/ROS/Tutorials/MultipleMachines
一般来说，我们把ROS Master设置在机器人上。
需要在机器人的.bashrc文件中加入
export ROS_MASTER_URI=http://localhost:11311
export ROS_IP=192.168.xxx.xxx
或者用正则表达
export ROS_IP=`hostname -I`
在有IPv6的情况下，需要用
export ROS_IP=`hostname -I | cut -d " " -f 1`
可以将``中的内容放在终端下测试。
因为localhost是127.0.0.1，并不能作为在roscore上注册的地址，外部机器不能访问该IP。
在自己电脑上的.bashrc需要配置
如果路由器可以解析的话
export ROS_MASTER_URI=http://<hostname>:11311
比较安全的做法，查看机器人的IP (有的机器人会把端口号设置成其他的端口，但是这种不常见)
export ROS_MASTER_URI=http://192.168.xxx.xxx:11311
ROS_IP的设置同机器人，常用写法是
export ROS_IP=`hostname -I`
HectorSLAM的launch文件配置
depthimage_to_laserscan的调用
cartographer
https://google-cartographer.readthedocs.io/en/latest/
https://google-cartographer-ros.readthedocs.io/en/latest/
安装
#原ceres-solver下载需要科学上网
git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0'}
#可以更改为
git: {local-name: ceres-solver, uri: 'https://github.com/ceres-solver/ceres-solver', version: '1.12.0'}
数据包
德意志博物馆Demo的bag文件
链接：https://pan.baidu.com/s/1A3zhKvk4TTxlvp6EBdburw 密码：4q22
launch文件样例
<launch>
<param name="/use_sim_time" value="false" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find bobac_map)/configuration_files
-configuration_basename bobac_map.lua"
output="screen">
<remap from="/odom" to="/odom"/>
<remap from="/scan" to="/scan"/>
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find bobac_map)/configuration_files/demo_2d.rviz" />
</launch>
lua脚本样例
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link", -- 可以是base_link或者base_footprint
published_frame = "base_footprint",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_odometry = true,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 9.6
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
return options
保存地图
下载 kinetic-devel 分支下的 map_server。编译后遮蔽原 map_server功能包
cd ~/catkin_ws/src
svn checkout https://github.com/ros-planning/navigation/branches/kinetic-devel/map_server
cd ..
catkin_make
地图建立完成后
rosrun map_server map_saver --occ 51 --free 49 -f test_carto_map
在当前目录下会生成
test_carto_map.yaml和test_carto_map.pgm
导航配置与参数调整
局部规划器的替换
需要将参数/move_base/base_local_planner设置为:
轨迹展开法:
base_local_planner/TrajectoryPlannerROS
时间弹性带法
teb_local_planner/TebLocalPlannerROS
动态窗口法:
dwa_local_planner/DWAPlannerROS
参数描述以及关键参数