ROS下移动机器人导航仿真

tech2026-02-11 2

作者:杭州电子科技大学智能机器人实验室环境:ROS+Kinetic16.04 参考:<<ROS机器人开发实践>>----胡春旭

实验步骤

准备工作搭建仿真环境使用gazebo搭建仿真环境建图导航

准备工作

新建一个工作空间(或者已有的workspace),然后在src目录下导入中科大ROS-Academy-for-Beginners包中的robot_sim_demopackage,本实验将采用该模型中的移动机器人作为仿真对象.

搭建仿真环境

使用gazebo搭建仿真环境

gazebo如何进行搭建这里不再赘述,本文参考这篇博客进行了一个简单的地图构建,如下图所示: 构建地图生成的world文件保存在robot_sim_demo下的worlds文件夹下面,如下图第三个文件.

然后对部分文件进行修改: (1)修改launch文件夹下的robot_spawn.launch文件,主要用我们自己仿真的world环境替换原仿真环境;

(2)修改robot_sim_demo/launch/include/xbot-u.launch.xml文件,主要是修改机器人的初始坐标,让其在环境范围之内,我的修改内容如下: 小技巧:建图时可以围绕原点建,这样可直接设置初始点为(0, 0, 0);

建图

(1)安装gmapping

sudo apt-get install ros-kinetic-gmapping

(2)在launch文件夹下新建一个 gmapping.launch文件,具体内容如下:

(3)为了控制机器人移动,分别在robot_sim_demo下的launch文件夹下新建mbot_teleop.launch文件以及在robot_sim_demo下面新建一个scripts文件夹,具体内容如下: launch文件:mbot_teleop.launch

scripts文件:mbot_teleop.py

#!/usr/bin/env python # -*- coding: utf-8 -*- import rospy from geometry_msgs.msg import Twist import sys, select, termios, tty msg = """ Control mbot! --------------------------- Moving around: u i o j k l m , . q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% space key, k : force stop anything else : stop smoothly CTRL-C to quit """ moveBindings = { 'i':(1,0), 'o':(1,-1), 'j':(0,1), 'l':(0,-1), 'u':(1,1), ',':(-1,0), '.':(-1,1), 'm':(-1,-1), } speedBindings={ 'q':(1.1,1.1), 'z':(.9,.9), 'w':(1.1,1), 'x':(.9,1), 'e':(1,1.1), 'c':(1,.9), } def getKey(): tty.setraw(sys.stdin.fileno()) rlist, _, _ = select.select([sys.stdin], [], [], 0.1) if rlist: key = sys.stdin.read(1) else: key = '' termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) return key speed = .2 turn = 1 def vels(speed,turn): return "currently:\tspeed %s\tturn %s " % (speed,turn) if __name__=="__main__": settings = termios.tcgetattr(sys.stdin) rospy.init_node('mbot_teleop') pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5) x = 0 th = 0 status = 0 count = 0 acc = 0.1 target_speed = 0 target_turn = 0 control_speed = 0 control_turn = 0 try: print msg print vels(speed,turn) while(1): key = getKey() # 运动控制方向键（1：正方向，-1负方向） if key in moveBindings.keys(): x = moveBindings[key][0] th = moveBindings[key][1] count = 0 # 速度修改键 elif key in speedBindings.keys(): speed = speed * speedBindings[key][0] # 线速度增加0.1倍 turn = turn * speedBindings[key][1] # 角速度增加0.1倍 count = 0 print vels(speed,turn) if (status == 14): print msg status = (status + 1) % 15 # 停止键 elif key == ' ' or key == 'k' : x = 0 th = 0 control_speed = 0 control_turn = 0 else: count = count + 1 if count > 4: x = 0 th = 0 if (key == '\x03'): break # 目标速度=速度值*方向值 target_speed = speed * x target_turn = turn * th # 速度限位，防止速度增减过快 if target_speed > control_speed: control_speed = min( target_speed, control_speed + 0.02 ) elif target_speed < control_speed: control_speed = max( target_speed, control_speed - 0.02 ) else: control_speed = target_speed if target_turn > control_turn: control_turn = min( target_turn, control_turn + 0.1 ) elif target_turn < control_turn: control_turn = max( target_turn, control_turn - 0.1 ) else: control_turn = target_turn # 创建并发布twist消息 twist = Twist() twist.linear.x = control_speed; twist.linear.y = 0; twist.linear.z = 0 twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = control_turn pub.publish(twist) except: print e finally: twist = Twist() twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0 pub.publish(twist) termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

至此,建图准备工作完成: 分别运行下述命令:

roslaunch robot_sim_demo robot_spawn.launch//启动仿真环境 roslaunch robot_sim_demo gmapping.launch//启动gmapping rviz//启动rviz,添加map话题 roslaunch robot_sim_demo mbot_teleop.launch//启动控制机器人节点

开始控制机器人移动进行建图,将建好的地图使用如下命令进行保存:

rosrun map_server map_saver -f map

保存会产生两个文件,以map名字命名:

然后将这两个文件copy到robot_sim_demo文件夹下面的maps下面,建图完成.

controller_frequency: 3.0 recovery_behavior_enabled: false clearing_rotation_allowed: false TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.1 max_vel_y: 0.0 # zero for a differential drive robot min_vel_y: 0.0 max_vel_theta: 1.0 min_vel_theta: -1.0 min_in_place_vel_theta: 0.5 escape_vel: -0.1 acc_lim_x: 1.5 acc_lim_y: 0.0 # zero for a differential drive robot acc_lim_theta: 1.2 holonomic_robot: false yaw_goal_tolerance: 0.1 # about 6 degrees xy_goal_tolerance: 0.1 # 10 cm latch_xy_goal_tolerance: false pdist_scale: 0.9 gdist_scale: 0.6 meter_scoring: true heading_lookahead: 0.325 heading_scoring: false heading_scoring_timestep: 0.8 occdist_scale: 0.1 oscillation_reset_dist: 0.05 publish_cost_grid_pc: false prune_plan: true sim_time: 1.0 sim_granularity: 0.025 angular_sim_granularity: 0.025 vx_samples: 8 vy_samples: 0 # zero for a differential drive robot vtheta_samples: 20 dwa: true simple_attractor: false

costmap_common_params.yaml:

obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]] footprint_inflation: 0.01 robot_radius: 0.175 inflation_radius: 0.15 max_obstacle_height: 0.6 min_obstacle_height: 0.0 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap_params.yaml:

global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 1.0 static_map: true rolling_window: false resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

local_costmap_params.yaml:

local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 3.0 publish_frequency: 1.0 static_map: true rolling_window: false width: 6.0 height: 6.0 resolution: 0.01 transform_tolerance: 1.0

move_base_params.yaml:

shutdown_costmaps: false controller_frequency: 10.0 planner_patience: 5.0 controller_patience: 15.0 conservative_reset_dist: 3.0 planner_frequency: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2

(3)launch文件夹下分别添加 move_base.launch amcl.launch nav_cloister_demo.launch三个文件:具体内容如下: move_base.launch: 注意,文件路径要结合自己的文件放置位置

amcl.launch:

nav_cloister_demo.launch: 注意:该文件下面的map配置信息yaml文件替换成自己建好的地图.,launch文件路径也要换成自己的.

文件配置完成,开始进行导航仿真: 依次输入以下命令:

roslaunch robot_sim_demo robot_spawn.launch//启动仿真环境 roslaunch robot_sim_demo nav_cloister_demo.launch//启动导航节点

如下图:

然后在rviz上方的2D Nav Goal 控制,让机器人朝着某个方向移动避障至此,导航完成.

最新回复(0)