建图与导航同时进行教程
来自Waveshare Wiki
ugv02使用教程
- 序章 基于ros2开发ugv02功能目录
- 教程一 树莓派基于ros2开发ugv02底盘初始化操作
- 教程二 基于vscode的树莓派远程开发教程
- 教程三 底盘控制教程
- 教程四 手柄遥控教程
- 教程五 ugv02使用雷达教程
- 教程六 cartographer建图教程
- 教程七 nav2导航教程
- 教程八 建图与导航同时进行教程
功能包简介
在前面的教程中机器人的建图和导航是分开进行的。
需预先完成建图才能开始导航，这十分的不方便，且只能在已建好的固定大小地图中导航没法探索未知区域。
那是否有办法把建图和导航同时进行呢？
接下来将跟随教程去实现这一功能。
例程
配置新的导航参数
在/home/waveshare/test/ugv02/src/ugv02_bringup/params/中新建文件slam_and_nav.yaml
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: True
controller_server:
ros__parameters:
use_sim_time: True
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.1
# DWB parameters
FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
desired_linear_vel: 0.3
lookahead_dist: 0.6
min_lookahead_dist: 0.4
max_lookahead_dist: 0.6
lookahead_time: 1.5
rotate_to_heading_angular_vel: 0.6
transform_tolerance: 0.1
use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.05
approach_velocity_scaling_dist: 0.6
use_collision_detection: true
max_allowed_time_to_collision_up_to_carrot: 1.0
use_regulated_linear_velocity_scaling: true
use_fixed_curvature_lookahead: false
curvature_lookahead_dist: 0.15
use_cost_regulated_linear_velocity_scaling: false
regulated_linear_scaling_min_radius: 0.6
regulated_linear_scaling_min_speed: 0.15
use_rotate_to_heading: true
allow_reversing: false
rotate_to_heading_min_angle: 0.785
max_angular_accel: 1.2
max_robot_pose_search_dist: 10.0
use_interpolation: false
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.12
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.35
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
robot_radius: 0.12
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.35
always_send_full_costmap: True
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
velocity_smoother:
ros__parameters:
use_sim_time: True
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
里面的配置与上一节中的参数配置最主要的差别在于缺少了amcl和map_server两部分
amcl主要其定位作用，其需要里程计配合雷达做机器人位置估计。
map_server其为地图服务器，它主要提供静态格栅地图数据，提供给amcl进行位置估算。
配置launch启动文件
在ugv02/src/ugv02_bringup/launch/中新建文件slam_and_nav_bringup_launch.py
编写其中的内容为：
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from nav2_common.launch import RewrittenYaml
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('ugv02_bringup')
nav2_dir = get_package_share_directory('nav2_bringup')
launch_dir = os.path.join(nav2_dir, 'launch')
# Create the launch configuration variables
namespace = LaunchConfiguration('namespace')
use_namespace = LaunchConfiguration('use_namespace')
slam = LaunchConfiguration('slam')
use_sim_time = LaunchConfiguration('use_sim_time')
params_file = LaunchConfiguration('params_file')
autostart = LaunchConfiguration('autostart')
use_composition = LaunchConfiguration('use_composition')
use_respawn = LaunchConfiguration('use_respawn')
log_level = LaunchConfiguration('log_level')
remappings = [('/tf', 'tf'),
('/tf_static', 'tf_static')]
# Create our own temporary YAML files that include substitutions
param_substitutions = {
'use_sim_time': use_sim_time}
configured_params = RewrittenYaml(
source_file=params_file,
root_key=namespace,
param_rewrites=param_substitutions,
convert_types=True)
stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
default_value='',
description='Top-level namespace')
declare_use_namespace_cmd = DeclareLaunchArgument(
'use_namespace',
default_value='false',
description='Whether to apply a namespace to the navigation stack')
declare_slam_cmd = DeclareLaunchArgument(
'slam',
default_value='False',
description='Whether run a SLAM')
declare_use_sim_time_cmd = DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true')
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(bringup_dir, 'params', 'slam_and_nav.yaml'),
description='Full path to the ROS2 parameters file to use for all launched nodes')
declare_autostart_cmd = DeclareLaunchArgument(
'autostart', default_value='true',
description='Automatically startup the nav2 stack')
declare_use_composition_cmd = DeclareLaunchArgument(
'use_composition', default_value='True',
description='Whether to use composed bringup')
declare_use_respawn_cmd = DeclareLaunchArgument(
'use_respawn', default_value='False',
description='Whether to respawn if a node crashes. Applied when composition is disabled.')
declare_log_level_cmd = DeclareLaunchArgument(
'log_level', default_value='info',
description='log level')
# Specify the actions
bringup_cmd_group = GroupAction([
PushRosNamespace(
condition=IfCondition(use_namespace),
namespace=namespace),
Node(
condition=IfCondition(use_composition),
name='nav2_container',
package='rclcpp_components',
executable='component_container_isolated',
parameters=[configured_params, {'autostart': autostart}],
arguments=['--ros-args', '--log-level', log_level],
remappings=remappings,
output='screen'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
condition=IfCondition(slam),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'use_respawn': use_respawn,
'params_file': params_file}.items()),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
launch_arguments={'namespace': namespace,
'use_sim_time': use_sim_time,
'autostart': autostart,
'params_file': params_file,
'use_composition': use_composition,
'use_respawn': use_respawn,
'container_name': 'nav2_container'}.items()),
])
# Create the launch description and populate
ld = LaunchDescription()
# Set environment variables
ld.add_action(stdout_linebuf_envvar)
# Declare the launch options
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_use_namespace_cmd)
ld.add_action(declare_slam_cmd)
ld.add_action(declare_use_sim_time_cmd)
ld.add_action(declare_params_file_cmd)
ld.add_action(declare_autostart_cmd)
ld.add_action(declare_use_composition_cmd)
ld.add_action(declare_use_respawn_cmd)
ld.add_action(declare_log_level_cmd)
# Add the actions to launch all of the navigation nodes
ld.add_action(bringup_cmd_group)
return ld
里面的配置也是缺少了地图和定位两部分
缺失的地图和定位将有你的slam算法来补充实现。
编译
返回工作空间并编译
cd ~/ugv02 colcon build
运行测试
新开一个终端页面，进入工作空间，source一下，以及启动*教程五 ugv02使用雷达教程中的雷达
cd ~/ugv02 source ./install/setup.bash ros2 launch ldlidar_stl_ros2 ld19.launch.py
新开一个终端页面，进入工作空间，source一下，以及启动*教程六 cartographer建图教程中的建图
cd ~/ugv02 source ./install/setup.bash ros2 launch ugv02_cartographer cartographer.launch.py
新开一个终端页面，进入工作空间，source一下，以及启动本节教程中新增的launch文件
cd ~/ugv02 source ./install/setup.bash ros2 launch ugv02_bringup slam_and_nav_bringup_launch.py
新开一个终端页面，进入工作空间，source一下，以及启动*教程三 底盘控制教程中的底盘控制
cd ~/ugv02 source ./install/setup.bash ros2 run communication_module ugv02_control
在装有ubuntu系统及ros2的电脑（虚拟机）中，确保该电脑与树莓派连接了同一个网络或wifi，新开一个终端。
rviz2