路径规划
路径规划主要依靠move_base
1. move_base文件实现
1.1
在nav_test功能包的launch文件夹下新建move_base.launch文件
内容参考如下(可直接复制):
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<param name="controller_frequency" value="4.5" />
<param name="controller_patiente" value="3.0" />
<rosparam file="$(find nav_test)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find nav_test)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find nav_test)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find nav_test)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find nav_test)/param/base_local_planner_params.yaml" command="load" />
</node>
</launch>
注意
文件中有(find nav_test)/param/...即move_base所需要的参数文件,里面只用到了四个，但不是说只有四个,只是这里基础用这几个足够了
因此在nav_test功能包下新建param文件夹
按照launch文件夹中所需文件在param中创建对应的yaml文件
1.1.1 base_local_planner_params
创建base_local_planner_params文件
内容参考如下(可直接复制):
TrajectoryPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.2 # X 方向最大速度
min_vel_x: 0.05 # X 方向最小速速
max_vel_theta: 1.0 #
min_vel_theta: -1.0
min_in_place_vel_theta: 1.0
acc_lim_x: 1.0 # X 加速限制
acc_lim_y: 0.0 # Y 加速限制
acc_lim_theta: 0.05 # 角速度加速限制
# Goal Tolerance Parameters，目标公差，第一个单位是m，第二个单位是弧度
xy_goal_tolerance: 0.20
yaw_goal_tolerance: 1.57
# Differential-drive robot configuration
# 是否是全向移动机器人
holonomic_robot: false
# Forward Simulation Parameters，前进模拟参数
sim_time: 2.0
vx_samples: 10
vtheta_samples: 20
sim_granularity: 0.05
1.1.2 costmap_common_params
创建costmap_common_params.yaml文件
内容参考如下(可直接复制):
#机器人几何参，如果机器人是圆形，设置 robot_radius,如果是其他形状设置 footprint
robot_radius: 0.28 #圆形
# footprint: [[-0.12, -0.12], [-0.12, 0.12], [0.12, 0.12], [0.12, -0.12]] #其他形状
obstacle_range: 2.5 # 用于障碍物探测，比如: 值为 3.0，意味着检测到距离小于 3 米的障碍物时，就会引入代价地图
raytrace_range: 3.5 # 用于清除障碍物，比如：值为 3.5，意味着清除代价地图中 3.5 米以外的障碍物
#膨胀半径，扩展在碰撞区域以外的代价区域，使得机器人规划路径避开障碍物
inflation_radius: 0.2
#代价比例系数，越大则代价值越小
cost_scaling_factor: 3.0
#地图类型
map_type: costmap
#导航包所需要的传感器
observation_sources: scan
#对传感器的坐标系和数据进行配置。这个也会用于代价地图添加和清除障碍物。例如，你可以用激光雷达传感器用于在代价地图添加障碍物，再添加kinect用于导航和清除障碍物。
scan: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
1.1.3 local_costmap_params
创建local_costmap_params.yaml文件
内容参考如下(可直接复制):
local_costmap:
global_frame: odom #里程计坐标系
robot_base_frame: base_footprint #机器人坐标系
update_frequency: 10.0 #代价地图更新频率
publish_frequency: 10.0 #代价地图的发布频率
transform_tolerance: 0.5 #等待坐标变换发布信息的超时时间
static_map: false #不需要静态地图，可以提升导航效果
rolling_window: true #是否使用动态窗口，默认为false，在静态的全局地图中，地图不会变化
width: 3 # 局部地图宽度 单位是 m
height: 3 # 局部地图高度 单位是 m
resolution: 0.05 # 局部地图分辨率 单位是 m，一般与静态地图分辨率保持一致
1.1.4 global_costmap_params
创建global_costmap_params.yaml文件
global_costmap:
global_frame: map #地图坐标系
robot_base_frame: base_footprint #机器人坐标系
# 以此实现坐标变换
update_frequency: 1.0 #代价地图更新频率
publish_frequency: 1.0 #代价地图的发布频率
transform_tolerance: 0.5 #等待坐标变换发布信息的超时时间
static_map: true # 是否使用一个地图或者地图服务器来初始化全局代价地图，如果不使用静态地图，这个参数为false.
这些文件写好后保存退出
2. 导航
2.1 导航launch文件
在nav_test的launch文件夹下新建na.launch文件
launch文件中内容如下(可直接复制):
<launch>
<!--添加启动文件-->
<include file="$(find start_car)/launch/start_tf_norviz.launch" />
<!--地图服务-->
<include file="$(find nav_test)/launch/map_server.launch" />
<!--amcl定位-->
<include file="$(find nav_test)/launch/amcl.launch" />
<!--路径规划-->
<include file="$(find nav_test)/launch/move_base.launch" />
<!--添加启动rviz-->
<node pkg = "rviz" type = "rviz" name = "rviz" args ="-d $(find nav_test)/rviz/na_havemap.rviz" output = "screen" />
</launch>
说明
这里的rviz我给了对应的配置
在rviz的文件夹里有
但也要在nav_test功能包下创建用于存放配置的文件夹rviz
其中内容为:(可直接复制)
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 545
- 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
Name: Time
SyncMode: 0
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
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: 10
Reference Frame: <Fixed Frame>
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
- 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
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
laser:
Value: true
map:
Value: true
odom:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
laser:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map_global
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map_local
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path_global
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 20
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path_local
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 20
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/local_plan
Unreliable: 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
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 845
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002adfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000002ad000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002adfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000002ad000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000031f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 60
Y: 60
说明
这个内容不需要自己编写，可以打开rviz，在添加好自己的所需要的组件后保存文件到指定位置即可
2.2 测试移动
启动na.launch文件通过设定目标点让车进行移动（当前是需要在地图已经建好的情况下使用）
tips
- 绿色的箭头是设置初始位置（包括朝向）
- 粉紫色的箭头是设置目标点及朝向