ROS1云课→30导航仿真演示

ROS1云课→29如何借助导航实现走迷宫机器人

---

先一键配置吧，否则很多内容无法展开讲。

echo "-----BEGIN PGP PUBLIC KEY BLOCK-----
Version: GnuPG v1
 
mQINBFzvJpYBEADY8l1YvO7iYW5gUESyzsTGnMvVUmlV3XarBaJz9bGRmgPXh7jc
VFrQhE0L/HV7LOfoLI9H2GWYyHBqN5ERBlcA8XxG3ZvX7t9nAZPQT2Xxe3GT3tro
u5oCR+SyHN9xPnUwDuqUSvJ2eqMYb9B/Hph3OmtjG30jSNq9kOF5bBTk1hOTGPH4
K/AY0jzT6OpHfXU6ytlFsI47ZKsnTUhipGsKucQ1CXlyirndZ3V3k70YaooZ55rG
aIoAWlx2H0J7sAHmqS29N9jV9mo135d+d+TdLBXI0PXtiHzE9IPaX+ctdSUrPnp+
TwR99lxglpIG6hLuvOMAaxiqFBB/Jf3XJ8OBakfS6nHrWH2WqQxRbiITl0irkQoz
pwNEF2Bv0+Jvs1UFEdVGz5a8xexQHst/RmKrtHLct3iOCvBNqoAQRbvWvBhPjO/p
V5cYeUljZ5wpHyFkaEViClaVWqa6PIsyLqmyjsruPCWlURLsQoQxABcL8bwxX7UT
hM6CtH6tGlYZ85RIzRifIm2oudzV5l+8oRgFr9yVcwyOFT6JCioqkwldW52P1pk/
/SnuexC6LYqqDuHUs5NnokzzpfS6QaWfTY5P5tz4KHJfsjDIktly3mKVfY0fSPVV
okdGpcUzvz2hq1fqjxB6MlB/1vtk0bImfcsoxBmF7H+4E9ZN1sX/tSb0KQARAQAB
tCZPcGVuIFJvYm90aWNzIDxpbmZvQG9zcmZvdW5kYXRpb24ub3JnPokCVAQTAQgA
PgIbAwULCQgHAgYVCgkICwIEFgIDAQIeAQIXgBYhBMHPbjHmut6IaLFytPQu1vur
F8ZUBQJgsdhRBQkLTMW7AAoJEPQu1vurF8ZUTMwP/3f7EkOPIFjUdRmpNJ2db4iB
RQu5b2SJRG+KIdbvQBzKUBMV6/RUhEDPjhXZI3zDevzBewvAMKkqs2Q1cWo9WV7Z
PyTkvSyey/Tjn+PozcdvzkvrEjDMftIk8E1WzLGq7vnPLZ1q/b6Vq4H373Z+EDWa
DaDwW72CbCBLWAVtqff80CwlI2x8fYHKr3VBUnwcXNHR4+nRABfAWnaU4k+oTshC
Qucsd8vitNfsSXrKuKyz91IRHRPnJjx8UvGU4tRGfrHkw1505EZvgP02vXeRyWBR
fKiL1vGy4tCSRDdZO3ms2J2m08VPv65HsHaWYMnO+rNJmMZj9d9JdL/9GRf5F6U0
quoIFL39BhUEvBynuqlrqistnyOhw8W/IQy/ymNzBMcMz6rcMjMwhkgm/LNXoSD1
1OrJu4ktQwRhwvGVarnB8ihwjsTxZFylaLmFSfaA+OAlOqCLS1OkIVMzjW+Ul6A6
qjiCEUOsnlf4CGlhzNMZOx3low6ixzEqKOcfECpeIj80a2fBDmWkcAAjlHu6VBhA
TUDG9e2xKLzV2Z/DLYsb3+n9QW7KO0yZKfiuUo6AYboAioQKn5jh3iRvjGh2Ujpo
22G+oae3PcCc7G+z12j6xIY709FQuA49dA2YpzMda0/OX4LP56STEveDRrO+CnV6
WE+F5FaIKwb72PL4rLi4
=i0tj
-----END PGP PUBLIC KEY BLOCK-----" >> ~/ros.asc
 
sudo apt-key add ros.asc
 
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 
sudo apt update
 
sudo apt install ros-kinetic-turtlebot-simulator -y
 
roslaunch turtlebot_stdr turtlebot_in_stdr.launch

---

保存为initnav.sh。

    1  gedit initnav.sh
    2  chmod +x initnav.sh
    3  ./initnav.sh
    4  ls
    5  gedit initnav.sh
    6  ./initnav.sh
 

需要源码下载：

git clone https://gitcode.net/ZhangRelay/ros_book.git

 

/opt/ros/kinetic/share/turtlebot_stdr/maps

改环境，同样一键配置

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/simple_rooms.yaml
 
roslaunch turtlebot_stdr turtlebot_in_stdr.launch

效果如下：

---

更通用案例：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/mines.yaml
 
echo "
  "       default="$(optenv TURTLEBOT_BASE kobuki)"/>  
  "     default="$(optenv TURTLEBOT_STACKS hexagons)"/>  
  "  default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  
  " default="robot0/laser_0"/> 
  " default="robot0/odom"/>
  " default="map"/>
  " default="robot0"/>
  " default="world"/>
  
  "       default="$(env TURTLEBOT_STDR_MAP_FILE)"/>
  " default="1.5"/>
  " default="1.5"/>
  " default="0.0"/>
  " default="0.0"/>
  " default="5.0"/>
 
  
  " />
  
  " type="stdr_server_node" name="stdr_server" output="screen" args="$(arg map_file)"/>
  
  " type="robot_handler" name="$(anon robot_spawn)" args="add $(find turtlebot_stdr)/robot/turtlebot.yaml $(arg initial_pose_x) $(arg initial_pose_y) 0"/>
  
  "/>
  
  "/>
 
  
  ">
    " value="$(arg base)" />
    " value="$(arg stacks)" />
    " value="$(arg 3d_sensor)" />
  
  " pkg="joint_state_publisher" type="joint_state_publisher">
    " value="true"/>
  
 
  
  " type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
  " type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    " value="$(find turtlebot_bringup)/param/mux.yaml"/>
    " to="mobile_base/commands/velocity"/>
  
 
  
  " pkg="map_server" type="map_server" args="$(arg map_file)">
   " value="$(arg global_frame_id)"/>
  
 
 
  
  ">
   " value="$(arg odom_topic)"/>
   " value="$(arg laser_topic)"/>
   "   value="$(arg odom_frame_id)"/>
   "   value="$(arg base_frame_id)"/>
   " value="$(arg global_frame_id)"/>
  
 
  
    " value="$(arg min_obstacle_height)"/>
    " value="$(arg max_obstacle_height)"/>
    " value="$(arg min_obstacle_height)"/>
    " value="$(arg max_obstacle_height)"/>
 
  
  ">
    " value="$(arg laser_topic)"/>
    " value="true"/>
    " value="$(arg odom_frame_id)"/>
    " value="$(arg base_frame_id)"/>
    " value="$(arg global_frame_id)"/>
    " value="$(arg initial_pose_x)"/>
    " value="$(arg initial_pose_y)"/>
    " value="$(arg initial_pose_a)"/>
  
 
 
  " pkg="turtlebot_stdr" type="tf_connector.py" output="screen"/>
 
  
  " pkg="rviz" type="rviz" args="-d $(find turtlebot_stdr)/rviz/robot_navigation.rviz"/>
 
 
 
 
" >> ~/mines.launch
 
roslaunch mines.launch

 或者：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/mines.yaml
 
roslaunch turtlebot_stdr turtlebot_in_stdr.launch

需要修改机器人初始坐标到合适的位置。 

---

课堂中教室建图和导航案例需补充。

然后将其导入的ROS云实践镜像中。

注意一些参数配置，例如机器人和坐标位置等。

 
 
 

坐标要对应地图参数进行调整。

设置地图：

export TURTLEBOT_STDR_MAP_FILE=/opt/ros/kinetic/share/turtlebot_stdr/maps/***.yaml

其中，***对应具体地图名称。

---

launch文件简单介绍：

包含功能如上。

   
   
   
 
 
 
 
 

基本主题和坐标

 
 
 
 
 
 
 

初始位置参数和障碍物
 
 
 
 
 
 
 
 
 
 
 
 
 
 
   
   
   
 
 
   
 

机器人模型详细参数
 
 
 
 
   
   
 

速度
 
 
 
   
 
 地图
 
 
 
   
   
   
   
   
 

导航
 
 
   
   
   
   

自定义参数
 
 
 
   
   
   
   
   
   
   
   
 

自适应蒙特卡罗定位
 
 
 

坐标
 
 
 

可视化
 

---

坐标：

#!/usr/bin/env python
__author__ = 'mehdi tlili'
import rospy
from tf2_msgs.msg import TFMessage
import tf
 
class Remapper(object):
 
    def __init__(self):
        self.br = tf.TransformBroadcaster()
        rospy.Subscriber("/tf", TFMessage, self.tf_remapper)
 
    def tf_remapper(self, msg):
 
        if msg.transforms[0].header.frame_id == "/robot0":
            self.br.sendTransform((0, 0, 0),
                                  tf.transformations.quaternion_from_euler(0, 0, 0),
                                  rospy.Time.now(),
                                  "base_footprint",
                                  "robot0")
 
 
if __name__ == '__main__':
    rospy.init_node('remapper_nav')
    remapper = Remapper()
    rospy.spin()

---