Turtlebot3多机建图教程

版权声明：转载请标明出处，谢谢！ https://blog.csdn.net/kdongyi/article/details/84674477

• ubuntu系统16.04 ，ROS版本kinetic
• OpenCR固件升级到1.2.1 之后的版本 ，OpenCR固件升级参考
• 安装多机地图合并软件包ros-kinetic-multirobot-map-merge

sudo apt-get install ros-kinetic-multirobot-map-merge

 1、多机测试

步骤：

• [remotePC] 启动rosore

roscore 

• [turtlebot3] 启动第一台小车底盘

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

• 启动第二台，修改tb3_0为tb3_1

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"

• 或者[remotePC]在turbot3机型下，启动第一台底盘

roslaunch turbot3_multi multi.launch multi_robot_name:="tb3_0"

• 启动第二台，修改tb3_0为tb3_1

• [remotePC] 启动模型

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_0

• 启动第二台，修改tb3_0为tb3_1

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_1

• 或者[remotePC]在turbot3机型下，启动模型

roslaunch turbot3_multi model.launch multi:="tb3_0"

• 启动第二台，修改tb3_0为tb3_1
• 打开rqt查看tf树和话题

---

2、遥控建图

步骤：

• [remotePC]启动roscore

roscore

• [turtlebot3]启动底盘

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

• 启动第二台，修改tb3_0为tb3_1

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"

• [remotePC]启动slam建图

ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map

• 启动第一台slam建图，替换tb3_0为tb3_1

ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map

• [remotePC]启动地图合并

roslaunch turtlebot3_bringup  turtlebot3_map_merge.launch

• 没有对应文件就建立一个，具体turtlebot3_map_merge.launch内容如下：

<launch>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>

  <arg name="first_tb3_x_pos" default="-7.0"/>
  <arg name="first_tb3_y_pos" default="-1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 0.0"/>

  <arg name="second_tb3_x_pos" default=" 7.0"/>
  <arg name="second_tb3_y_pos" default="-1.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 0.0"/>

  <group ns="$(arg first_tb3)/map_merge">
    <param name="init_pose_x"   value="$(arg first_tb3_x_pos)"/>
    <param name="init_pose_y"   value="$(arg first_tb3_y_pos)"/>
    <param name="init_pose_z"   value="$(arg first_tb3_z_pos)"/>
    <param name="init_pose_yaw" value="$(arg first_tb3_yaw)"  />
  </group>

  <group ns="$(arg second_tb3)/map_merge">
    <param name="init_pose_x"   value="$(arg second_tb3_x_pos)"/>
    <param name="init_pose_y"   value="$(arg second_tb3_y_pos)"/>
    <param name="init_pose_z"   value="$(arg second_tb3_z_pos)"/>
    <param name="init_pose_yaw" value="$(arg second_tb3_yaw)"  />
  </group>


  <node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">
    <param name="robot_map_topic" value="map"/>
    <param name="robot_namespace" value="tb3"/>
    <param name="merged_map_topic" value="map"/>
    <param name="world_frame" value="map"/>
    <param name="known_init_poses" value="true"/>
    <param name="merging_rate" value="0.5"/>
    <param name="discovery_rate" value="0.05"/>
    <param name="estimation_rate" value="0.1"/>
    <param name="estimation_confidence" value="1.0"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg first_tb3)_tf_broadcaster"  args="0 0 0 0 0 0 /map /$(arg first_tb3)/map 100"/>
  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg second_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg second_tb3)/map 100"/>
</launch>
       

• [remotePC]启动rviz

rosrun rviz rviz -d `rospack find turtlebot3_bringup`/launch/multi_turtlebot3_slam.rviz

• 没有对应文件就建立一个，点击查看multi_turtlebot3_slam.rviz内容

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /TF1/Frames1
      Splitter Ratio: 0.36039602756500244
    Tree Height: 745
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - 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: 0.44999998807907104
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 100
      Reference Frame: map
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        map:
          Value: true
        tb3_0/base_footprint:
          Value: true
        tb3_0/base_link:
          Value: true
        tb3_0/base_scan:
          Value: true
        tb3_0/caster_back_link:
          Value: true
        tb3_0/imu_link:
          Value: true
        tb3_0/map:
          Value: true
        tb3_0/odom:
          Value: true
        tb3_0/wheel_left_link:
          Value: true
        tb3_0/wheel_right_link:
          Value: true
        tb3_1/base_footprint:
          Value: true
        tb3_1/base_link:
          Value: true
        tb3_1/base_scan:
          Value: true
        tb3_1/caster_back_link:
          Value: true
        tb3_1/imu_link:
          Value: true
        tb3_1/map:
          Value: true
        tb3_1/odom:
          Value: true
        tb3_1/wheel_left_link:
          Value: true
        tb3_1/wheel_right_link:
          Value: true
        tb3_2/base_footprint:
          Value: true
        tb3_2/base_link:
          Value: true
        tb3_2/base_scan:
          Value: true
        tb3_2/caster_back_link:
          Value: true
        tb3_2/imu_link:
          Value: true
        tb3_2/map:
          Value: true
        tb3_2/odom:
          Value: true
        tb3_2/wheel_left_link:
          Value: true
        tb3_2/wheel_right_link:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          tb3_0/map:
            tb3_0/odom:
              tb3_0/base_footprint:
                tb3_0/base_link:
                  tb3_0/base_scan:
                    {}
                  tb3_0/caster_back_link:
                    {}
                  tb3_0/imu_link:
                    {}
                  tb3_0/wheel_left_link:
                    {}
                  tb3_0/wheel_right_link:
                    {}
          tb3_1/map:
            tb3_1/odom:
              tb3_1/base_footprint:
                tb3_1/base_link:
                  tb3_1/base_scan:
                    {}
                  tb3_1/caster_back_link:
                    {}
                  tb3_1/imu_link:
                    {}
                  tb3_1/wheel_left_link:
                    {}
                  tb3_1/wheel_right_link:
                    {}
          tb3_2/map:
            tb3_2/odom:
              tb3_2/base_footprint:
                tb3_2/base_link:
                  tb3_2/base_scan:
                    {}
                  tb3_2/caster_back_link:
                    {}
                  tb3_2/imu_link:
                    {}
                  tb3_2/wheel_left_link:
                    {}
                  tb3_2/wheel_right_link:
                    {}
      Update Interval: 0
      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; 0; 0
      Color Transformer: FlatColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 11799
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.019999999552965164
      Style: Flat Squares
      Topic: /tb3_0/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_1/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      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: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /tb3_2/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_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_0/robot_description
      TF Prefix: tb3_0
      Update Interval: 0
      Value: true
      Visual Enabled: 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_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_1/robot_description
      TF Prefix: tb3_1
      Update Interval: 0
      Value: true
      Visual Enabled: 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_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_scan:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        caster_back_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        imu_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        wheel_left_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        wheel_right_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: tb3_2/robot_description
      TF Prefix: tb3_2
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_0/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_1/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.30000001192092896
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /tb3_2/map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    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:
      Angle: -1.5699989795684814
      Class: rviz/TopDownOrtho
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Scale: 28.54726791381836
      Target Frame: map
      Value: TopDownOrtho (rviz)
      X: 4.814141750335693
      Y: -1.3036315441131592
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1027
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001e300000373fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003500000373000000b600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000216000001900000000000000000000000010000010f00000373fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000035000003730000009900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009fe0000003efc0100000002fb0000000800540069006d00650100000000000009fe0000024b00fffffffb0000000800540069006d00650100000000000004500000000000000000000008170000037300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 2558
  X: 0
Y: 0

• [remotePC]启动第一台机器人键盘控制

ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key

• [remotePC]启动第二台机器人键盘控制，替代tb3_0为tb3_1
• 随后分别遥控机器人在环境里面走动进行建图。

• 保存地图：

rosrun map_server map_saver -f ~/map