Rplidar A2与turtlebot进行amcl导航教程
我在网上搜寻了很久看到了一些别的小车的导航教程但是turtlebot的却很少，仅有的几个尝试了几个还是发生了很多错误，所以我决定写了一篇这种文章
帮助大家了解如何去操作
1.https://github.com/ncnynl/turtlebot_apps网址下载该包，因为该包中我们需要的文件
2./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch文件进行修改
我的代码如下：
<launch>
<!-- Define laser type-->
<arg name="laser_type" default="rplidar" />
<!-- laser driver -->
<include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />
<!-- Map server -->
<arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- AMCL -->
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg laser_type)_amcl.launch.xml"/>
<arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_a" default="0.0"/>
<include file="$(arg custom_amcl_launch_file)">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<!-- Move base -->
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg laser_type)_costmap_params.yaml"/>
<include file="$(find turtlebot_navigation)/launch/includes/rplidar_move_base.launch.xml">
<arg name="custom_param_file" value="$(arg custom_param_file)"/>
</include>
</launch>
3./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes/amcl中加入rplidar_amcl.launch.xml文件
具体代码如下：
<launch>
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.25"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="global_frame_id" value="$(arg global_frame_id)"/>
<param name="resample_interval" value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance" value="1.0"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
4./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes下添加rplidar_move_base.launch.xml文件
具体代码如下：
<!--
ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>
<include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/dummy.yaml"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find turtlebot_navigation)/param/config/odom/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/nav_obstacles_params.yaml" command="load" />
<!--<rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/navfn_global_planner_params.yaml" command="load" />-->
<!-- external params file that could be loaded into the move_base namespace
<rosparam file="$(arg custom_param_file)" command="load" />-->
<!-- reset frame_id parameters using user input data -->
<param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
<param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
<param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="scan" to="$(arg laser_topic)"/>
</node>
</launch>
5./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml文件
具体代码如下：#A dummy file loaded when no custom param file is given
6./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml.bk文件
具体代码如下：
max_obstacle_height: 2.0 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
#map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 2.0
min_obstacle_height: 0.0
#origin_z: 0.0
#z_resolution: 0.2
#z_voxels: 2
#unknown_threshold: 15
#mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.0
raytrace_range: 5.0
#origin_z: 0.0
#z_resolution: 0.2
#z_voxels: 2
publish_voxel_map: false
observation_sources: scan
scan:
data_type: LaserScan
topic: "/scan"
marking: true
clearing: true
expected_update_rate: 0
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.25 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"
7./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param添加config文件包
此处文件包从可以从第一步下的文件中找到的.
我这里提到的文件都可以在第一步下载的文件包里找到，如果有具体错误，可以根据输出错误查看是否缺少什么文件，添加进去即可
如果还有具体问题可以加我QQ私聊
QQ：1599015354
我在网上搜寻了很久看到了一些别的小车的导航教程但是turtlebot的却很少，仅有的几个尝试了几个还是发生了很多错误，所以我决定写了一篇这种文章
帮助大家了解如何去操作
1.https://github.com/ncnynl/turtlebot_apps网址下载该包，因为该包中我们需要的文件
2./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch文件进行修改
我的代码如下：
<launch>
<!-- Define laser type-->
<arg name="laser_type" default="rplidar" />
<!-- laser driver -->
<include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />
<!-- Map server -->
<arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- AMCL -->
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg laser_type)_amcl.launch.xml"/>
<arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
<arg name="initial_pose_a" default="0.0"/>
<include file="$(arg custom_amcl_launch_file)">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<!-- Move base -->
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg laser_type)_costmap_params.yaml"/>
<include file="$(find turtlebot_navigation)/launch/includes/rplidar_move_base.launch.xml">
<arg name="custom_param_file" value="$(arg custom_param_file)"/>
</include>
</launch>
3./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes/amcl中加入rplidar_amcl.launch.xml文件
具体代码如下：
<launch>
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.25"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="global_frame_id" value="$(arg global_frame_id)"/>
<param name="resample_interval" value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance" value="1.0"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
4./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes下添加rplidar_move_base.launch.xml文件
具体代码如下：
<!--
ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>
<include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_footprint"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/dummy.yaml"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find turtlebot_navigation)/param/config/odom/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/odom/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/config/nav_obstacles_params.yaml" command="load" />
<!--<rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/navfn_global_planner_params.yaml" command="load" />-->
<!-- external params file that could be loaded into the move_base namespace
<rosparam file="$(arg custom_param_file)" command="load" />-->
<!-- reset frame_id parameters using user input data -->
<param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
<param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
<param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
<param name="DWAPlannerROS/global_frame_id" value="$(arg odom_frame_id)"/>
<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="scan" to="$(arg laser_topic)"/>
</node>
</launch>
5./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml文件
具体代码如下：#A dummy file loaded when no custom param file is given
6./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml.bk文件
具体代码如下：
max_obstacle_height: 2.0 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
#map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 2.0
min_obstacle_height: 0.0
#origin_z: 0.0
#z_resolution: 0.2
#z_voxels: 2
#unknown_threshold: 15
#mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.0
raytrace_range: 5.0
#origin_z: 0.0
#z_resolution: 0.2
#z_voxels: 2
publish_voxel_map: false
observation_sources: scan
scan:
data_type: LaserScan
topic: "/scan"
marking: true
clearing: true
expected_update_rate: 0
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.25 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"
7./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param添加config文件包
此处文件包从可以从第一步下的文件中找到的.
我这里提到的文件都可以在第一步下载的文件包里找到，如果有具体错误，可以根据输出错误查看是否缺少什么文件，添加进去即可
如果还有具体问题可以加我QQ私聊
QQ：1599015354