ROS2导航SLAM建图

ROS2 导航

#1 安装

# 环境 
Ubuntu 20.04 
ROS2 Foxy

# 查看本机是否已经安装 turtlrbot3
ros2 pkg list | grep turtlebot3

# You will get 
# turtlebot3
# turtlebot3_bringup
# turtlebot3_cartographer
# turtlebot3_description
# turtlebot3_example
# turtlebot3_gazebo
# turtlebot3_msgs
# turtlebot3_navigation2
# turtlebot3_node
# turtlebot3_teleop

# 安装 turtlrbot3
sudo apt install ros-foxy-turtlebot3 -y 
sudo apt install ros-foxy-gazebo-dev -y 

# 查看本机是否已经安装 cartographer
ros2 pkg list |grep cartographer

# You will get 
# cartographer_ros
# cartographer_ros_msgs

# 安装 cartographer
sudo apt install ros-foxy-cartographer -y 

#2 建图

#2.1 Rviz

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

export TURTLEBOT3_MODEL=burger

• 启动

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

#2.2 Gazebo

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg prefix turtlebot3_gazebo`/share/turtlebot3_gazebo/models/

export TURTLEBOT3_MODEL=burger

• 启动

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

#2.3 键盘控制节点

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

export TURTLEBOT3_MODEL=burger

• 启动

ros2 run turtlebot3_teleop teleop_keyboard

使用键盘控制小车运动, 扫描地图数据

#2.4 保存地图

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

mkdir ~/cartographer

• 启动

ros2 run nav2_map_server map_saver_cli -f ~/cartographer/map

生成地图文件:

~/cartographer/map.pgm
~/cartographer/map.yaml

image: ~/cartographer/map.pgm
mode: trinary
resolution: 0.05
origin: [-1.31, -2.48, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25%

• image：图像路径
• mode: 图像模式，默认为trinary(三进制)，还有另外两个可选项scale(缩放的)和raw(原本的值)。
• resolution：分辨率，一个栅格对应的物理尺寸，单位为m。0.05则表示一个栅格为0.05m
• origin：地图原点位置，单位是m。
• negate：是否反转图像
• cooupied_thresh：占据阈值
• free_thresh：空闲阈值

#3 导航

根据已有的地图进行导航

关闭上面的窗口

#3.1 导航

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

export TURTLEBOT3_MODEL=burger

• 启动

// 注意 #2.4 生成的地图文件路径
cd ~/cartographer
ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=map.yaml

#3.2 Gazebo

打开新终端

• 设置

source /opt/ros/foxy/setup.zsh

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg prefix turtlebot3_gazebo`/share/turtlebot3_gazebo/models/

export TURTLEBOT3_MODEL=burger

• 启动

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

#3.3 初始化位置

• 点击 “2D Pose Estimate” 按钮
• 单击机器人所在的地图中的近似点，拖动箭头指出机器人所面朝的方向(如果一次不行,就试多次)
  

#3.4 设置终点

• 单机 “ 2D Nav Goal “按钮
• 单击地图中的特定点以设置目标位置，并将光标拖动到 TurtleBot 最后应该面对的方向
  

紫红色的线就是规划路径