saberbud/ros_senior
1
0
Fork 0
mirror of https://github.com/Jieshoudaxue/ros_senior.git synced 2026-08-29 08:34:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

[up] add navigation

Browse Source
This commit is contained in:
jieshoudaxue
2023-11-09 10:11:12 +08:00
parent f843ab38d5
commit 72ad64e146
14 changed files with 537 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mbot_navigation/CMakeLists.txt
+1
View File
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
move_base_msgs
roscpp
rospy
actionlib
)
## System dependencies are found with CMake's conventions
mbot_navigation/config/move_base/costmap_common_params.yaml
+11
View File
@@ -0,0 +1,11 @@
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: 1.0
cost_scaling_factor: 3.0
map_type: costmap
#transform_tolerance: 1
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}
mbot_navigation/config/move_base/dwa_local_planner_params.yaml
+47
View File
@@ -0,0 +1,47 @@
DWAPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.22
min_vel_x: -0.22
max_vel_y: 0.0
min_vel_y: 0.0
# The velocity when robot is moving in a straight line
max_trans_vel: 0.22
min_trans_vel: 0.11
max_rot_vel: 2.75
min_rot_vel: 1.37
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
# Goal Tolerance Parametes
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.17
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.5
vx_samples: 20
vy_samples: 0
vth_samples: 40
controller_frequency: 10.0
# Trajectory Scoring Parameters
path_distance_bias: 32.0
goal_distance_bias: 20.0
occdist_scale: 0.02
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
mbot_navigation/config/move_base/global_costmap_params.yaml
+10
View File
@@ -0,0 +1,10 @@
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5
static_map: true
mbot_navigation/config/move_base/local_costmap_params.yaml
+13
View File
@@ -0,0 +1,13 @@
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 10.0
publish_frequency: 10.0
transform_tolerance: 0.5
static_map: false
rolling_window: true
width: 3
height: 3
resolution: 0.05
mbot_navigation/config/move_base/move_base_params.yaml
+9
View File
@@ -0,0 +1,9 @@
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
mbot_navigation/launch/amcl.launch
+42
View File
@@ -0,0 +1,42 @@
<launch>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_footprint"/>
</node>
</launch>
mbot_navigation/launch/move_base.launch
+15
View File
@@ -0,0 +1,15 @@
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find mbot_navigation)/config/move_base/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mbot_navigation)/config/move_base/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mbot_navigation)/config/move_base/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mbot_navigation)/config/move_base/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mbot_navigation)/config/move_base/move_base_params.yaml" command="load" />
<rosparam file="$(find mbot_navigation)/config/move_base/dwa_local_planner_params.yaml" command="load" />
</node>
</launch>
mbot_navigation/launch/navigation_with_gmapping.launch
+11
View File
@@ -0,0 +1,11 @@
<launch>
<include file="$(find mbot_navigation)/launch/gmapping.launch"/>
<!-- 运行move_base节点 -->
<include file="$(find mbot_navigation)/launch/move_base.launch" />
<!-- 运行rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/navigation.rviz"/>
</launch>
mbot_navigation/launch/navigation_with_map.launch
+18
View File
@@ -0,0 +1,18 @@
<launch>
<!-- 设置地图的配置文件 -->
<arg name="map" default="gmapping_save.yaml" />
<!-- 运行地图服务器，并且加载设置的地图-->
<node name="map_server" pkg="map_server" type="map_server" args="$(find mbot_navigation)/maps/$(arg map)"/>
<!-- 运行move_base节点 -->
<include file="$(find mbot_navigation)/launch/move_base.launch"/>
<!-- 启动AMCL节点 -->
<include file="$(find mbot_navigation)/launch/amcl.launch" />
<!-- 运行rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/navigation.rviz"/>
</launch>
mbot_navigation/maps/gmapping_save.pgm
+2 -2
View File
File diff suppressed because one or more lines are too long
mbot_navigation/maps/gmapping_save.yaml
+1 -1
View File
@@ -1,6 +1,6 @@
image: gmapping_save.pgm
resolution: 0.050000
origin: [-15.400000, -15.400000, 0.000000]
origin: [-28.200000, -13.800000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
mbot_navigation/package.xml
+3
View File
@@ -51,14 +51,17 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
mbot_navigation/rviz/navigation.rviz
+354
View File
@@ -0,0 +1,354 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 446
- 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: 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
back_caster_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_caster_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
kinect_frame_optical:
Alpha: 1
Show Axes: false
Show Trail: false
kinect_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
stage_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- 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): 0.05000000074505806
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: PointStamped
Queue Size: 10
Radius: 0.20000000298023224
Topic: /clicked_point
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /move_base/current_goal
Unreliable: false
Value: true
- Alpha: 1
Arrow Length: 0.30000001192092896
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: 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
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/NavfnROS/plan
Unreliable: 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/PointCloud2
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: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /move_base/DWAPlannerROS/trajectory_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
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: 16.752517700195312
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: 0.9847961664199829
Target Frame: <Fixed Frame>
Yaw: 4.8535847663879395
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 737
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000247fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000247000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001cf000000b30000001600ffffff000000010000010f00000247fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000247000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d00650100000000000005000000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000003a40000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1280
X: 8
Y: 31