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ROS之旅(三) Ubuntu18.04 ROS环境下利用cartographer以及move_base功能包实现差速小车在仿真环境中路径规划_ros创建gazebo功能包

作者：2023面试高手 | 2024-03-30 05:07:09

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ros创建gazebo功能包

一、创建工作空间

1.创建工作空间catkin_mbot

mkdir -p ~/catkin_mbot/src

cd ~/catkin_mbot/src

2.初始化工作空间

catkin_init_workspace

3.编译工作空间

  1. cd ~/catkin_mbot
  2. catkin_make

二、在src下新建mymbot_description功能包

1.创建功能包

  1. cd ~/catkin_mbot/src
  2. catkin_create_pkg mymbot_description xacro

在该功能包下创建三个.xacro文件，分别为：lidar_gazebo.xacro   用于存放激光雷达相关数据、mbot_base_gazebo.xacro  用于存放小车的相关数据、mbot_with_laser_gazebo.xacro  将激光雷达与小车合为一体。

2.lidar_gazebo.xacro

  1. <?xml version="1.0"?>
  2. <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="laser">
  3.  
  4.     <xacro:macro name="rplidar" params="prefix:=laser">
  5.         <!-- Create laser reference frame -->
  6.         <link name="${prefix}_link">
  7.             <inertial>
  8.                 <mass value="0.1" />
  9.                 <origin xyz="0 0 0" />
  10.                 <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  11.                          iyy="0.01" iyz="0.0"
  12.                          izz="0.01" />
  13.             </inertial>
  14.  
  15.             <visual>
  16.                 <origin xyz=" 0 0 0 " rpy="0 0 0" />
  17.                 <geometry>
  18.                     <cylinder length="0.05" radius="0.05"/>
  19.                 </geometry>
  20.                 <material name="black"/>
  21.             </visual>
  22.  
  23.             <collision>
  24.                 <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
  25.                 <geometry>
  26.                     <cylinder length="0.06" radius="0.05"/>
  27.                 </geometry>
  28.             </collision>
  29.         </link>
  30.         <gazebo reference="${prefix}_link">
  31.             <material>Gazebo/Black</material>
  32.         </gazebo>
  33.  
  34.         <gazebo reference="${prefix}_link">
  35.             <sensor type="ray" name="rplidar">
  36.                 <pose>0 0 0 0 0 0</pose>
  37.                 <visualize>false</visualize>
  38.                 <update_rate>5.5</update_rate>
  39.                 <ray>
  40.                     <scan>
  41.                       <horizontal>
  42.                         <samples>360</samples>
  43.                         <resolution>1</resolution>
  44.                         <min_angle>-3</min_angle>
  45.                         <max_angle>3</max_angle>
  46.                       </horizontal>
  47.                     </scan>
  48.                     <range>
  49.                       <min>0.10</min>
  50.                       <max>6.0</max>
  51.                       <resolution>0.01</resolution>
  52.                     </range>
  53.                     <noise>
  54.                       <type>gaussian</type>
  55.                       <mean>0.0</mean>
  56.                       <stddev>0.01</stddev>
  57.                     </noise>
  58.                 </ray>
  59.                 <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
  60.                     <topicName>/scan</topicName>
  61.                     <frameName>laser_link</frameName>
  62.                 </plugin>
  63.             </sensor>
  64.         </gazebo>
  65.  
  66.     </xacro:macro>
  67. </robot>

3.mbot_base_gazebo.xacro

  1. <?xml version="1.0"?>
  2. <robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3.  
  4.     <!-- PROPERTY LIST -->
  5.     <xacro:property name="M_PI" value="3.1415926"/>
  6.     <xacro:property name="base_mass"   value="20" /> 
  7.     <xacro:property name="base_radius" value="0.20"/>
  8.     <xacro:property name="base_length" value="0.16"/>
  9.  
  10.     <xacro:property name="wheel_mass"   value="2" />
  11.     <xacro:property name="wheel_radius" value="0.06"/>
  12.     <xacro:property name="wheel_length" value="0.025"/>
  13.     <xacro:property name="wheel_joint_y" value="0.19"/>
  14.     <xacro:property name="wheel_joint_z" value="0.05"/>
  15.  
  16.     <xacro:property name="caster_mass"    value="0.5" /> 
  17.     <xacro:property name="caster_radius"  value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
  18.     <xacro:property name="caster_joint_x" value="0.18"/>
  19.  
  20.     <!-- Defining the colors used in this robot -->
  21.     <material name="yellow">
  22.         <color rgba="1 0.4 0 1"/>
  23.     </material>
  24.     <material name="black">
  25.         <color rgba="0 0 0 0.95"/>
  26.     </material>
  27.     <material name="gray">
  28.         <color rgba="0.75 0.75 0.75 1"/>
  29.     </material>
  30.     
  31.     <!-- Macro for inertia matrix -->
  32.     <xacro:macro name="sphere_inertial_matrix" params="m r">
  33.         <inertial>
  34.             <mass value="${m}" />
  35.             <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
  36.                 iyy="${2*m*r*r/5}" iyz="0" 
  37.                 izz="${2*m*r*r/5}" />
  38.         </inertial>
  39.     </xacro:macro>
  40.  
  41.     <xacro:macro name="cylinder_inertial_matrix" params="m r h">
  42.         <inertial>
  43.             <mass value="${m}" />
  44.             <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
  45.                 iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
  46.                 izz="${m*r*r/2}" /> 
  47.         </inertial>
  48.     </xacro:macro>
  49.  
  50.     <!-- Macro for robot wheel -->
  51.     <xacro:macro name="wheel" params="prefix reflect">
  52.         <joint name="${prefix}_wheel_joint" type="continuous">
  53.             <origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
  54.             <parent link="base_link"/>
  55.             <child link="${prefix}_wheel_link"/>
  56.             <axis xyz="0 1 0"/>
  57.         </joint>
  58.  
  59.         <link name="${prefix}_wheel_link">
  60.             <visual>
  61.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
  62.                 <geometry>
  63.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  64.                 </geometry>
  65.                 <material name="gray" />
  66.             </visual>
  67.             <collision>
  68.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
  69.                 <geometry>
  70.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  71.                 </geometry>
  72.             </collision>
  73.             <cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
  74.         </link>
  75.  
  76.         <gazebo reference="${prefix}_wheel_link">
  77.             <material>Gazebo/Gray</material>
  78.         </gazebo>
  79.  
  80.         <!-- Transmission is important to link the joints and the controller -->
  81.         <transmission name="${prefix}_wheel_joint_trans">
  82.             <type>transmission_interface/SimpleTransmission</type>
  83.             <joint name="${prefix}_wheel_joint" >
  84.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  85.             </joint>
  86.             <actuator name="${prefix}_wheel_joint_motor">
  87.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  88.                 <mechanicalReduction>1</mechanicalReduction>
  89.             </actuator>
  90.         </transmission>
  91.     </xacro:macro>
  92.  
  93.     <!-- Macro for robot caster -->
  94.     <xacro:macro name="caster" params="prefix reflect">
  95.         <joint name="${prefix}_caster_joint" type="continuous">
  96.             <origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
  97.             <parent link="base_link"/>
  98.             <child link="${prefix}_caster_link"/>
  99.             <axis xyz="0 1 0"/>
  100.         </joint>
  101.  
  102.         <link name="${prefix}_caster_link">
  103.             <visual>
  104.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  105.                 <geometry>
  106.                     <sphere radius="${caster_radius}" />
  107.                 </geometry>
  108.                 <material name="black" />
  109.             </visual>
  110.             <collision>
  111.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  112.                 <geometry>
  113.                     <sphere radius="${caster_radius}" />
  114.                 </geometry>
  115.             </collision>      
  116.             <sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" />
  117.         </link>
  118.  
  119.         <gazebo reference="${prefix}_caster_link">
  120.             <material>Gazebo/Black</material>
  121.         </gazebo>
  122.     </xacro:macro>
  123.  
  124.     <xacro:macro name="mbot_base_gazebo">
  125.         <link name="base_footprint">
  126.             <visual>
  127.                 <origin xyz="0 0 0" rpy="0 0 0" />
  128.                 <geometry>
  129.                     <box size="0.001 0.001 0.001" />
  130.                 </geometry>
  131.             </visual>
  132.         </link>
  133.         <gazebo reference="base_footprint">
  134.             <turnGravityOff>false</turnGravityOff>
  135.         </gazebo>
  136.  
  137.         <joint name="base_footprint_joint" type="fixed">
  138.             <origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        
  139.             <parent link="base_footprint"/>
  140.             <child link="base_link" />
  141.         </joint>
  142.  
  143.         <link name="base_link">
  144.             <visual>
  145.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  146.                 <geometry>
  147.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  148.                 </geometry>
  149.                 <material name="yellow" />
  150.             </visual>
  151.             <collision>
  152.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  153.                 <geometry>
  154.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  155.                 </geometry>
  156.             </collision>   
  157.             <cylinder_inertial_matrix  m="${base_mass}" r="${base_radius}" h="${base_length}" />
  158.         </link>
  159.  
  160.         <gazebo reference="base_link">
  161.             <material>Gazebo/Blue</material>
  162.         </gazebo>
  163.  
  164.         <wheel prefix="left"  reflect="1"/>
  165.         <wheel prefix="right" reflect="-1"/>
  166.  
  167.         <caster prefix="front" reflect="-1"/>
  168.         <caster prefix="back"  reflect="1"/>
  169.  
  170.         <!-- controller -->
  171.         <gazebo>
  172.             <plugin name="differential_drive_controller" 
  173.                     filename="libgazebo_ros_diff_drive.so">
  174.                 <rosDebugLevel>Debug</rosDebugLevel>
  175.                 <publishWheelTF>true</publishWheelTF>
  176.                 <robotNamespace>/</robotNamespace>
  177.                 <publishTf>1</publishTf>
  178.                 <publishWheelJointState>true</publishWheelJointState>
  179.                 <alwaysOn>true</alwaysOn>
  180.                 <updateRate>100.0</updateRate>
  181.                 <legacyMode>true</legacyMode>
  182.                 <leftJoint>left_wheel_joint</leftJoint>
  183.                 <rightJoint>right_wheel_joint</rightJoint>
  184.                 <wheelSeparation>${wheel_joint_y*2}</wheelSeparation>
  185.                 <wheelDiameter>${2*wheel_radius}</wheelDiameter>
  186.                 <broadcastTF>1</broadcastTF>
  187.                 <wheelTorque>30</wheelTorque>
  188.                 <wheelAcceleration>1.8</wheelAcceleration>
  189.                 <commandTopic>cmd_vel</commandTopic>
  190.                 <odometryFrame>odom</odometryFrame> 
  191.                 <odometryTopic>odom</odometryTopic> 
  192.                 <robotBaseFrame>base_footprint</robotBaseFrame>
  193.             </plugin>
  194.         </gazebo> 
  195.     </xacro:macro>
  196.  
  197. </robot>

4.mbot_with_laser_gazebo.xacro

  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3.  
  4.     <xacro:include filename="$(find mymbot_description)/mbot_base_gazebo.xacro" />
  5.     <xacro:include filename="$(find mymbot_description)/lidar_gazebo.xacro" />
  6.  
  7.     <xacro:property name="lidar_offset_x" value="0" />
  8.     <xacro:property name="lidar_offset_y" value="0" />
  9.     <xacro:property name="lidar_offset_z" value="0.105" />
  10.  
  11.     <!-- lidar -->
  12.     <joint name="lidar_joint" type="fixed">
  13.         <origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
  14.         <parent link="base_link"/>
  15.         <child link="laser_link"/>
  16.     </joint>
  17.  
  18.     <xacro:rplidar prefix="laser"/>
  19.  
  20.     <mbot_base_gazebo/>
  21.  
  22. </robot>

三、在src下建立mymbot_gazebo功能包

1.创建功能包

  1. cd ~/catkin_mbot/src
  2. catkin_create_pkg mymbot_gazebo gazebo_plugins gazebo_ros gazebo_ros_control

在该功能包下创建launch、worlds两个文件夹

2.launch文件夹下创建view_mbot_with_laser_gazebo.launch文件

  1. <launch>
  2.  
  3.     <!-- 设置launch文件的参数 -->
  4.     <arg name="world_name" value="$(find mymbot_gazebo)/worlds/easy.world"/>
  5.     <arg name="paused" default="false"/>
  6.     <arg name="use_sim_time" default="true"/>
  7.     <arg name="gui" default="true"/>
  8.     <arg name="headless" default="false"/>
  9.     <arg name="debug" default="false"/>
  10.  
  11.     <!-- 运行gazebo仿真环境 -->
  12.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  13.         <arg name="world_name" value="$(arg world_name)" />
  14.         <arg name="debug" value="$(arg debug)" />
  15.         <arg name="gui" value="$(arg gui)" />
  16.         <arg name="paused" value="$(arg paused)"/>
  17.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  18.         <arg name="headless" value="$(arg headless)"/>
  19.     </include>
  20.  
  21.     <!-- 加载机器人模型描述参数 -->
  22.     <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mymbot_description)/mbot_with_laser_gazebo.xacro'" /> 
  23.  
  24.     <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
  25.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  26.  
  27.     <!-- 运行robot_state_publisher节点，发布tf  -->
  28.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  29.         <param name="publish_frequency" type="double" value="50.0" />
  30.     </node>
  31.  
  32.     <!-- 在gazebo中加载机器人模型-->
  33.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  34.           args="-urdf -model mbot -param robot_description"/> 
  35.  
  36. </launch>

3.在worlds文件夹下创建easy.world文件

  1. <sdf version='1.6'>
  2.   <world name='default'>
  3.     <light name='sun' type='directional'>
  4.       <cast_shadows>1</cast_shadows>
  5.       <pose frame=''>0 0 10 0 -0 0</pose>
  6.       <diffuse>0.8 0.8 0.8 1</diffuse>
  7.       <specular>0.2 0.2 0.2 1</specular>
  8.       <attenuation>
  9.         <range>1000</range>
  10.         <constant>0.9</constant>
  11.         <linear>0.01</linear>
  12.         <quadratic>0.001</quadratic>
  13.       </attenuation>
  14.       <direction>-0.5 0.1 -0.9</direction>
  15.     </light>
  16.     <model name='ground_plane'>
  17.       <static>1</static>
  18.       <link name='link'>
  19.         <collision name='collision'>
  20.           <geometry>
  21.             <plane>
  22.               <normal>0 0 1</normal>
  23.               <size>100 100</size>
  24.             </plane>
  25.           </geometry>
  26.           <surface>
  27.             <friction>
  28.               <ode>
  29.                 <mu>100</mu>
  30.                 <mu2>50</mu2>
  31.               </ode>
  32.               <torsional>
  33.                 <ode/>
  34.               </torsional>
  35.             </friction>
  36.             <contact>
  37.               <ode/>
  38.             </contact>
  39.             <bounce/>
  40.           </surface>
  41.           <max_contacts>10</max_contacts>
  42.         </collision>
  43.         <visual name='visual'>
  44.           <cast_shadows>0</cast_shadows>
  45.           <geometry>
  46.             <plane>
  47.               <normal>0 0 1</normal>
  48.               <size>100 100</size>
  49.             </plane>
  50.           </geometry>
  51.           <material>
  52.             <script>
  53.               <uri>file://media/materials/scripts/gazebo.material</uri>
  54.               <name>Gazebo/Grey</name>
  55.             </script>
  56.           </material>
  57.         </visual>
  58.         <self_collide>0</self_collide>
  59.         <enable_wind>0</enable_wind>
  60.         <kinematic>0</kinematic>
  61.       </link>
  62.     </model>
  63.     <gravity>0 0 -9.8</gravity>
  64.     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
  65.     <atmosphere type='adiabatic'/>
  66.     <physics name='default_physics' default='0' type='ode'>
  67.       <max_step_size>0.001</max_step_size>
  68.       <real_time_factor>1</real_time_factor>
  69.       <real_time_update_rate>1000</real_time_update_rate>
  70.     </physics>
  71.     <scene>
  72.       <ambient>0.4 0.4 0.4 1</ambient>
  73.       <background>0.7 0.7 0.7 1</background>
  74.       <shadows>1</shadows>
  75.     </scene>
  76.     <audio>
  77.       <device>default</device>
  78.     </audio>
  79.     <wind/>
  80.     <spherical_coordinates>
  81.       <surface_model>EARTH_WGS84</surface_model>
  82.       <latitude_deg>0</latitude_deg>
  83.       <longitude_deg>0</longitude_deg>
  84.       <elevation>0</elevation>
  85.       <heading_deg>0</heading_deg>
  86.     </spherical_coordinates>
  87.     <model name='Untitled'>
  88.       <pose frame=''>1.485 0.01 0 0 -0 0</pose>
  89.       <link name='Wall_0'>
  90.         <collision name='Wall_0_Collision'>
  91.           <geometry>
  92.             <box>
  93.               <size>7 0.15 2.5</size>
  94.             </box>
  95.           </geometry>
  96.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  97.           <max_contacts>10</max_contacts>
  98.           <surface>
  99.             <contact>
  100.               <ode/>
  101.             </contact>
  102.             <bounce/>
  103.             <friction>
  104.               <torsional>
  105.                 <ode/>
  106.               </torsional>
  107.               <ode/>
  108.             </friction>
  109.           </surface>
  110.         </collision>
  111.         <visual name='Wall_0_Visual'>
  112.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  113.           <geometry>
  114.             <box>
  115.               <size>7 0.15 2.5</size>
  116.             </box>
  117.           </geometry>
  118.           <material>
  119.             <script>
  120.               <uri>file://media/materials/scripts/gazebo.material</uri>
  121.               <name>Gazebo/Grey</name>
  122.             </script>
  123.             <ambient>1 1 1 1</ambient>
  124.           </material>
  125.           <meta>
  126.             <layer>0</layer>
  127.           </meta>
  128.         </visual>
  129.         <pose frame=''>0 -3.1 0 0 -0 0</pose>
  130.         <self_collide>0</self_collide>
  131.         <enable_wind>0</enable_wind>
  132.         <kinematic>0</kinematic>
  133.       </link>
  134.       <link name='Wall_1'>
  135.         <collision name='Wall_1_Collision'>
  136.           <geometry>
  137.             <box>
  138.               <size>4 0.15 2.5</size>
  139.             </box>
  140.           </geometry>
  141.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  142.           <max_contacts>10</max_contacts>
  143.           <surface>
  144.             <contact>
  145.               <ode/>
  146.             </contact>
  147.             <bounce/>
  148.             <friction>
  149.               <torsional>
  150.                 <ode/>
  151.               </torsional>
  152.               <ode/>
  153.             </friction>
  154.           </surface>
  155.         </collision>
  156.         <visual name='Wall_1_Visual'>
  157.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  158.           <geometry>
  159.             <box>
  160.               <size>4 0.15 2.5</size>
  161.             </box>
  162.           </geometry>
  163.           <material>
  164.             <script>
  165.               <uri>file://media/materials/scripts/gazebo.material</uri>
  166.               <name>Gazebo/Grey</name>
  167.             </script>
  168.             <ambient>1 1 1 1</ambient>
  169.           </material>
  170.           <meta>
  171.             <layer>0</layer>
  172.           </meta>
  173.         </visual>
  174.         <pose frame=''>3.425 -1.175 0 0 -0 1.5708</pose>
  175.         <self_collide>0</self_collide>
  176.         <enable_wind>0</enable_wind>
  177.         <kinematic>0</kinematic>
  178.       </link>
  179.       <link name='Wall_2'>
  180.         <collision name='Wall_2_Collision'>
  181.           <geometry>
  182.             <box>
  183.               <size>2.5 0.15 2.5</size>
  184.             </box>
  185.           </geometry>
  186.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  187.           <max_contacts>10</max_contacts>
  188.           <surface>
  189.             <contact>
  190.               <ode/>
  191.             </contact>
  192.             <bounce/>
  193.             <friction>
  194.               <torsional>
  195.                 <ode/>
  196.               </torsional>
  197.               <ode/>
  198.             </friction>
  199.           </surface>
  200.         </collision>
  201.         <visual name='Wall_2_Visual'>
  202.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  203.           <geometry>
  204.             <box>
  205.               <size>2.5 0.15 2.5</size>
  206.             </box>
  207.           </geometry>
  208.           <material>
  209.             <script>
  210.               <uri>file://media/materials/scripts/gazebo.material</uri>
  211.               <name>Gazebo/Grey</name>
  212.             </script>
  213.             <ambient>1 1 1 1</ambient>
  214.           </material>
  215.           <meta>
  216.             <layer>0</layer>
  217.           </meta>
  218.         </visual>
  219.         <pose frame=''>3.425 1.925 0 0 -0 1.5708</pose>
  220.         <self_collide>0</self_collide>
  221.         <enable_wind>0</enable_wind>
  222.         <kinematic>0</kinematic>
  223.       </link>
  224.       <link name='Wall_3'>
  225.         <collision name='Wall_3_Collision'>
  226.           <geometry>
  227.             <box>
  228.               <size>7 0.15 2.5</size>
  229.             </box>
  230.           </geometry>
  231.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  232.           <max_contacts>10</max_contacts>
  233.           <surface>
  234.             <contact>
  235.               <ode/>
  236.             </contact>
  237.             <bounce/>
  238.             <friction>
  239.               <torsional>
  240.                 <ode/>
  241.               </torsional>
  242.               <ode/>
  243.             </friction>
  244.           </surface>
  245.         </collision>
  246.         <visual name='Wall_3_Visual'>
  247.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  248.           <geometry>
  249.             <box>
  250.               <size>7 0.15 2.5</size>
  251.             </box>
  252.           </geometry>
  253.           <material>
  254.             <script>
  255.               <uri>file://media/materials/scripts/gazebo.material</uri>
  256.               <name>Gazebo/Grey</name>
  257.             </script>
  258.             <ambient>1 1 1 1</ambient>
  259.           </material>
  260.           <meta>
  261.             <layer>0</layer>
  262.           </meta>
  263.         </visual>
  264.         <pose frame=''>0 3.1 0 0 -0 3.14159</pose>
  265.         <self_collide>0</self_collide>
  266.         <enable_wind>0</enable_wind>
  267.         <kinematic>0</kinematic>
  268.       </link>
  269.       <link name='Wall_4'>
  270.         <collision name='Wall_4_Collision'>
  271.           <geometry>
  272.             <box>
  273.               <size>6.35 0.15 2.5</size>
  274.             </box>
  275.           </geometry>
  276.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  277.           <max_contacts>10</max_contacts>
  278.           <surface>
  279.             <contact>
  280.               <ode/>
  281.             </contact>
  282.             <bounce/>
  283.             <friction>
  284.               <torsional>
  285.                 <ode/>
  286.               </torsional>
  287.               <ode/>
  288.             </friction>
  289.           </surface>
  290.         </collision>
  291.         <visual name='Wall_4_Visual'>
  292.           <pose frame=''>0 0 1.25 0 -0 0</pose>
  293.           <geometry>
  294.             <box>
  295.               <size>6.35 0.15 2.5</size>
  296.             </box>
  297.           </geometry>
  298.           <material>
  299.             <script>
  300.               <uri>file://media/materials/scripts/gazebo.material</uri>
  301.               <name>Gazebo/Grey</name>
  302.             </script>
  303.             <ambient>1 1 1 1</ambient>
  304.           </material>
  305.           <meta>
  306.             <layer>0</layer>
  307.           </meta>
  308.         </visual>
  309.         <pose frame=''>-3.425 0 0 0 -0 -1.5708</pose>
  310.         <self_collide>0</self_collide>
  311.         <enable_wind>0</enable_wind>
  312.         <kinematic>0</kinematic>
  313.       </link>
  314.       <static>1</static>
  315.     </model>
  316.     <model name='control_console'>
  317.       <static>1</static>
  318.       <link name='link'>
  319.         <visual name='visual'>
  320.           <geometry>
  321.             <mesh>
  322.               <uri>model://control_console/meshes/console.dae</uri>
  323.             </mesh>
  324.           </geometry>
  325.         </visual>
  326.         <visual name='backvisual'>
  327.           <pose frame=''>0 0.29388 1.30113 0 -0 0</pose>
  328.           <geometry>
  329.             <box>
  330.               <size>1.78 0.05 2.60225</size>
  331.             </box>
  332.           </geometry>
  333.         </visual>
  334.         <collision name='back_collision'>
  335.           <pose frame=''>0 0.29388 1.30113 0 -0 0</pose>
  336.           <geometry>
  337.             <box>
  338.               <size>1.78 0.05 2.60225</size>
  339.             </box>
  340.           </geometry>
  341.           <max_contacts>10</max_contacts>
  342.           <surface>
  343.             <contact>
  344.               <ode/>
  345.             </contact>
  346.             <bounce/>
  347.             <friction>
  348.               <torsional>
  349.                 <ode/>
  350.               </torsional>
  351.               <ode/>
  352.             </friction>
  353.           </surface>
  354.         </collision>
  355.         <collision name='base_collision'>
  356.           <pose frame=''>0 -0.14669 0.4128 0 -0 0</pose>
  357.           <geometry>
  358.             <box>
  359.               <size>1.78872 0.97373 0.8256</size>
  360.             </box>
  361.           </geometry>
  362.           <max_contacts>10</max_contacts>
  363.           <surface>
  364.             <contact>
  365.               <ode/>
  366.             </contact>
  367.             <bounce/>
  368.             <friction>
  369.               <torsional>
  370.                 <ode/>
  371.               </torsional>
  372.               <ode/>
  373.             </friction>
  374.           </surface>
  375.         </collision>
  376.         <collision name='mid_collision'>
  377.           <pose frame=''>0 0.04268 1.48248 0 -0 0</pose>
  378.           <geometry>
  379.             <box>
  380.               <size>1.70162 0.51806 1.5</size>
  381.             </box>
  382.           </geometry>
  383.           <max_contacts>10</max_contacts>
  384.           <surface>
  385.             <contact>
  386.               <ode/>
  387.             </contact>
  388.             <bounce/>
  389.             <friction>
  390.               <torsional>
  391.                 <ode/>
  392.               </torsional>
  393.               <ode/>
  394.             </friction>
  395.           </surface>
  396.         </collision>
  397.         <collision name='top_collision'>
  398.           <pose frame=''>0 -0.15709 2.31203 0 -0 0</pose>
  399.           <geometry>
  400.             <box>
  401.               <size>1.78872 0.95292 0.62632</size>
  402.             </box>
  403.           </geometry>
  404.           <max_contacts>10</max_contacts>
  405.           <surface>
  406.             <contact>
  407.               <ode/>
  408.             </contact>
  409.             <bounce/>
  410.             <friction>
  411.               <torsional>
  412.                 <ode/>
  413.               </torsional>
  414.               <ode/>
  415.             </friction>
  416.           </surface>
  417.         </collision>
  418.         <collision name='panel_collision'>
  419.           <pose frame=''>0 -0.36311 0.90329 0.428775 -0 0</pose>
  420.           <geometry>
  421.             <box>
  422.               <size>1.33522 0.550273 0.1</size>
  423.             </box>
  424.           </geometry>
  425.           <max_contacts>10</max_contacts>
  426.           <surface>
  427.             <contact>
  428.               <ode/>
  429.             </contact>
  430.             <bounce/>
  431.             <friction>
  432.               <torsional>
  433.                 <ode/>
  434.               </torsional>
  435.               <ode/>
  436.             </friction>
  437.           </surface>
  438.         </collision>
  439.         <collision name='left_lower_shoulder_collision'>
  440.           <pose frame=''>-0.7435 -0.19848 0.87 0.520485 -0 0</pose>
  441.           <geometry>
  442.             <box>
  443.               <size>0.30172 0.7 0.5</size>
  444.             </box>
  445.           </geometry>
  446.           <max_contacts>10</max_contacts>
  447.           <surface>
  448.             <contact>
  449.               <ode/>
  450.             </contact>
  451.             <bounce/>
  452.             <friction>
  453.               <torsional>
  454.                 <ode/>
  455.               </torsional>
  456.               <ode/>
  457.             </friction>
  458.           </surface>
  459.         </collision>
  460.         <collision name='right_lower_shoulder_collision'>
  461.           <pose frame=''>0.7435 -0.19848 0.87 0.520485 -0 0</pose>
  462.           <geometry>
  463.             <box>
  464.               <size>0.30172 0.7 0.5</size>
  465.             </box>
  466.           </geometry>
  467.           <max_contacts>10</max_contacts>
  468.           <surface>
  469.             <contact>
  470.               <ode/>
  471.             </contact>
  472.             <bounce/>
  473.             <friction>
  474.               <torsional>
  475.                 <ode/>
  476.               </torsional>
  477.               <ode/>
  478.             </friction>
  479.           </surface>
  480.         </collision>
  481.         <collision name='left_upper_shoulder_collision'>
  482.           <pose frame=''>-0.7435 -0.19152 1.99244 -0.620645 0 0</pose>
  483.           <geometry>
  484.             <box>
  485.               <size>0.30172 0.7 0.5</size>
  486.             </box>
  487.           </geometry>
  488.           <max_contacts>10</max_contacts>
  489.           <surface>
  490.             <contact>
  491.               <ode/>
  492.             </contact>
  493.             <bounce/>
  494.             <friction>
  495.               <torsional>
  496.                 <ode/>
  497.               </torsional>
  498.               <ode/>
  499.             </friction>
  500.           </surface>
  501.         </collision>
  502.         <collision name='right_upper_shoulder_collision'>
  503.           <pose frame=''>0.7435 -0.19152 1.99244 -0.620645 0 0</pose>
  504.           <geometry>
  505.             <box>
  506.               <size>0.30172 0.7 0.5</size>
  507.             </box>
  508.           </geometry>
  509.           <max_contacts>10</max_contacts>
  510.           <surface>
  511.             <contact>
  512.               <ode/>
  513.             </contact>
  514.             <bounce/>
  515.             <friction>
  516.               <torsional>
  517.                 <ode/>
  518.               </torsional>
  519.               <ode/>
  520.             </friction>
  521.           </surface>
  522.         </collision>
  523.         <self_collide>0</self_collide>
  524.         <enable_wind>0</enable_wind>
  525.         <kinematic>0</kinematic>
  526.       </link>
  527.       <pose frame=''>1.12417 2.74992 0 0 -0 0</pose>
  528.     </model>
  529.     <model name='number5'>
  530.       <pose frame=''>4.48715 -0.132796 0.4 0 -0 0</pose>
  531.       <static>1</static>
  532.       <link name='link'>
  533.         <visual name='visual'>
  534.           <geometry>
  535.             <mesh>
  536.               <uri>model://number1/meshes/number.dae</uri>
  537.             </mesh>
  538.           </geometry>
  539.           <material>
  540.             <script>
  541.               <uri>model://number5/materials/scripts</uri>
  542.               <uri>model://number5/materials/textures</uri>
  543.               <name>Number/Five</name>
  544.             </script>
  545.           </material>
  546.         </visual>
  547.         <self_collide>0</self_collide>
  548.         <enable_wind>0</enable_wind>
  549.         <kinematic>0</kinematic>
  550.       </link>
  551.     </model>
  552.     <state world_name='default'>
  553.       <sim_time>151 774000000</sim_time>
  554.       <real_time>154 256918546</real_time>
  555.       <wall_time>1649152266 204573612</wall_time>
  556.       <iterations>151774</iterations>
  557.       <model name='Untitled'>
  558.         <pose frame=''>1.485 0.01 0 0 -0 0</pose>
  559.         <scale>1 1 1</scale>
  560.         <link name='Wall_0'>
  561.           <pose frame=''>1.485 -3.09 0 0 -0 0</pose>
  562.           <velocity>0 0 0 0 -0 0</velocity>
  563.           <acceleration>0 0 0 0 -0 0</acceleration>
  564.           <wrench>0 0 0 0 -0 0</wrench>
  565.         </link>
  566.         <link name='Wall_1'>
  567.           <pose frame=''>4.91 -1.165 0 0 -0 1.5708</pose>
  568.           <velocity>0 0 0 0 -0 0</velocity>
  569.           <acceleration>0 0 0 0 -0 0</acceleration>
  570.           <wrench>0 0 0 0 -0 0</wrench>
  571.         </link>
  572.         <link name='Wall_2'>
  573.           <pose frame=''>4.91 1.935 0 0 -0 1.5708</pose>
  574.           <velocity>0 0 0 0 -0 0</velocity>
  575.           <acceleration>0 0 0 0 -0 0</acceleration>
  576.           <wrench>0 0 0 0 -0 0</wrench>
  577.         </link>
  578.         <link name='Wall_3'>
  579.           <pose frame=''>1.485 3.11 0 0 -0 3.14159</pose>
  580.           <velocity>0 0 0 0 -0 0</velocity>
  581.           <acceleration>0 0 0 0 -0 0</acceleration>
  582.           <wrench>0 0 0 0 -0 0</wrench>
  583.         </link>
  584.         <link name='Wall_4'>
  585.           <pose frame=''>-1.94 0.01 0 0 0 -1.5708</pose>
  586.           <velocity>0 0 0 0 -0 0</velocity>
  587.           <acceleration>0 0 0 0 -0 0</acceleration>
  588.           <wrench>0 0 0 0 -0 0</wrench>
  589.         </link>
  590.       </model>
  591.       <model name='control_console'>
  592.         <pose frame=''>1.12417 2.74992 0 0 -0 0</pose>
  593.         <scale>1 1 1</scale>
  594.         <link name='link'>
  595.           <pose frame=''>1.12417 2.74992 0 0 -0 0</pose>
  596.           <velocity>0 0 0 0 -0 0</velocity>
  597.           <acceleration>0 0 0 0 -0 0</acceleration>
  598.           <wrench>0 0 0 0 -0 0</wrench>
  599.         </link>
  600.       </model>
  601.       <model name='ground_plane'>
  602.         <pose frame=''>0 0 0 0 -0 0</pose>
  603.         <scale>1 1 1</scale>
  604.         <link name='link'>
  605.           <pose frame=''>0 0 0 0 -0 0</pose>
  606.           <velocity>0 0 0 0 -0 0</velocity>
  607.           <acceleration>0 0 0 0 -0 0</acceleration>
  608.           <wrench>0 0 0 0 -0 0</wrench>
  609.         </link>
  610.       </model>
  611.       <model name='number5'>
  612.         <pose frame=''>4.48715 -0.132796 0.4 0 -0 0</pose>
  613.         <scale>1 1 1</scale>
  614.         <link name='link'>
  615.           <pose frame=''>4.48715 -0.132796 0.4 0 -0 0</pose>
  616.           <velocity>0 0 0 0 -0 0</velocity>
  617.           <acceleration>0 0 0 0 -0 0</acceleration>
  618.           <wrench>0 0 0 0 -0 0</wrench>
  619.         </link>
  620.       </model>
  621.       <light name='sun'>
  622.         <pose frame=''>0 0 10 0 -0 0</pose>
  623.       </light>
  624.     </state>
  625.     <gui fullscreen='0'>
  626.       <camera name='user_camera'>
  627.         <pose frame=''>4.11801 -5.09183 19.1974 -0 1.33564 1.5642</pose>
  628.         <view_controller>orbit</view_controller>
  629.         <projection_type>perspective</projection_type>
  630.       </camera>
  631.     </gui>
  632.   </world>
  633. </sdf>

以上两个文件夹可以实现在gazebo中创建一个仿真环境，并启动仿真小车

4.编译

  1. cd ~/catkin_mbot
  2. catkin_make

5.测试

  1. source ~/catkin_mbot/devel/setup.bash
  2. roslaunch mymbot_gazebo view_mbot_with_laser_gazebo.launch

6. 创建新的地图

  1. source ~/catkin_mbot/devel/setup.bash
  2. roslaunch mymbot_gazebo view_mbot_with_laser_gazebo.launch

打开gazebo仿真后在insert一栏可以添加新的物体，其中诸多模型文件会以资源形式上传

删除所有的墙体，以及物体后如图

 点击Edit中的Building Editor

创建墙体

 保存后退出

 点击FIle中的 Save World As，以world_1.world为名保存到map文件夹中

 修改view_mbot_with_laser_gazebo.launch文件中的内容

 将easy.world修改为world_1.world

测试：

运行gazebo仿真

  1. source ~/catkin_mbot/devel/setup.bash
  2. roslaunch mymbot_gazebo view_mbot_with_laser_gazebo.launch

 

 测试成功后将launch中的world改为easy.world

四、引入键盘控制功能，在src下建立mbot_teleop功能包

1.新建功能包

  1. cd ~/catkin_mbot/src
  2. catkin_create_pkg mbot_teleop geometry_msgs rospy

在该功能包下创建launch、scripts两个文件夹

2.launch中新建mbot_teleop.launch文件

  1. <launch>
  2.   <node name="mbot_teleop" pkg="mbot_teleop" type="mbot_teleop.py" output="screen">
  3.     <param name="scale_linear" value="0.1" type="double"/>
  4.     <param name="scale_angular" value="0.4" type="double"/>
  5.   </node>
  6. </launch>

3.scripts中新建mbot_teleop.py文件

  1. #!/usr/bin/env python
  2. # -*- coding: utf-8 -*-
  3.  
  4. import rospy
  5. from geometry_msgs.msg import Twist
  6. import sys, select, termios, tty
  7.  
  8. msg = """
  9. Control mbot!
  10. ---------------------------
  11. Moving around:
  12.    u    i    o
  13.    j    k    l
  14.    m    ,    .
  16. q/z : increase/decrease max speeds by 10%
  17. w/x : increase/decrease only linear speed by 10%
  18. e/c : increase/decrease only angular speed by 10%
  19. space key, k : force stop
  20. anything else : stop smoothly
  22. CTRL-C to quit
  23. """
  24.  
  25. moveBindings = {
  26.         'i':(1,0),
  27.         'o':(1,-1),
  28.         'j':(0,1),
  29.         'l':(0,-1),
  30.         'u':(1,1),
  31.         ',':(-1,0),
  32.         '.':(-1,1),
  33.         'm':(-1,-1),
  34.            }
  35.  
  36. speedBindings={
  37.         'q':(1.1,1.1),
  38.         'z':(.9,.9),
  39.         'w':(1.1,1),
  40.         'x':(.9,1),
  41.         'e':(1,1.1),
  42.         'c':(1,.9),
  43.           }
  44.  
  45. def getKey():
  46.     tty.setraw(sys.stdin.fileno())
  47.     rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
  48.     if rlist:
  49.         key = sys.stdin.read(1)
  50.     else:
  51.         key = ''
  52.  
  53.     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
  54.     return key
  55.  
  56. speed = .2
  57. turn = 1
  58.  
  59. def vels(speed,turn):
  60.     return "currently:\tspeed %s\tturn %s " % (speed,turn)
  61.  
  62. if __name__=="__main__":
  63.     settings = termios.tcgetattr(sys.stdin)
  64.     
  65.     rospy.init_node('mbot_teleop')
  66.     pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
  67.  
  68.     x = 0
  69.     th = 0
  70.     status = 0
  71.     count = 0
  72.     acc = 0.1
  73.     target_speed = 0
  74.     target_turn = 0
  75.     control_speed = 0
  76.     control_turn = 0
  77.     try:
  78.         print msg
  79.         print vels(speed,turn)
  80.         while(1):
  81.             key = getKey()
  82.             # 运动控制方向键（1：正方向，-1负方向）
  83.             if key in moveBindings.keys():
  84.                 x = moveBindings[key][0]
  85.                 th = moveBindings[key][1]
  86.                 count = 0
  87.             # 速度修改键
  88.             elif key in speedBindings.keys():
  89.                 speed = speed * speedBindings[key][0]  # 线速度增加0.1倍
  90.                 turn = turn * speedBindings[key][1]    # 角速度增加0.1倍
  91.                 count = 0
  92.  
  93.                 print vels(speed,turn)
  94.                 if (status == 14):
  95.                     print msg
  96.                 status = (status + 1) % 15
  97.             # 停止键
  98.             elif key == ' ' or key == 'k' :
  99.                 x = 0
  100.                 th = 0
  101.                 control_speed = 0
  102.                 control_turn = 0
  103.             else:
  104.                 count = count + 1
  105.                 if count > 4:
  106.                     x = 0
  107.                     th = 0
  108.                 if (key == '\x03'):
  109.                     break
  110.  
  111.             # 目标速度=速度值*方向值
  112.             target_speed = speed * x
  113.             target_turn = turn * th
  114.  
  115.             # 速度限位，防止速度增减过快
  116.             if target_speed > control_speed:
  117.                 control_speed = min( target_speed, control_speed + 0.02 )
  118.             elif target_speed < control_speed:
  119.                 control_speed = max( target_speed, control_speed - 0.02 )
  120.             else:
  121.                 control_speed = target_speed
  122.  
  123.             if target_turn > control_turn:
  124.                 control_turn = min( target_turn, control_turn + 0.1 )
  125.             elif target_turn < control_turn:
  126.                 control_turn = max( target_turn, control_turn - 0.1 )
  127.             else:
  128.                 control_turn = target_turn
  129.  
  130.             # 创建并发布twist消息
  131.             twist = Twist()
  132.             twist.linear.x = control_speed; 
  133.             twist.linear.y = 0; 
  134.             twist.linear.z = 0
  135.             twist.angular.x = 0; 
  136.             twist.angular.y = 0; 
  137.             twist.angular.z = control_turn
  138.             pub.publish(twist)
  139.  
  140.     except:
  141.         print e
  142.  
  143.     finally:
  144.         twist = Twist()
  145.         twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
  146.         twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
  147.         pub.publish(twist)
  148.  
  149.     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

删掉该功能包下的src文件夹即可

4.编译

  1. cd ~/catkin_mbot
  2. catkin_make

五、配置导航功能包

1.创建功能包

sudo apt-get install ros-melodic-navigation

2.在src下创建mbot_navigation功能包

  1. cd ~/catkin_mbot/src
  2. catkin_create_pkg mbot_navigation geometry_msgs move_base_msgs

在该功能包下创建config、launch、maps、rviz四个文件夹

config文件夹下创建mbot文件夹，在mbot中创建base_local_planner_params.yaml、costmap_common_params.yaml、global_costmap_params.yaml、local_costmap_params.yaml

3.base_local_planner_params.yaml

  1. controller_frequency: 3.0
  2. recovery_behavior_enabled: false
  3. clearing_rotation_allowed: false
  4.  
  5. TrajectoryPlannerROS:
  6.    max_vel_x: 0.5
  7.    min_vel_x: 0.1
  8.    max_vel_y: 0.0  # zero for a differential drive robot
  9.    min_vel_y: 0.0
  10.    max_vel_theta: 1.0
  11.    min_vel_theta: -1.0
  12.    min_in_place_vel_theta: 0.5
  13.    escape_vel: -0.1
  14.    acc_lim_x: 1.5
  15.    acc_lim_y: 0.0 # zero for a differential drive robot
  16.    acc_lim_theta: 1.2
  17.  
  18.    holonomic_robot: false
  19.    yaw_goal_tolerance: 0.1 # about 6 degrees
  20.    xy_goal_tolerance: 0.1  # 10 cm
  21.    latch_xy_goal_tolerance: false
  22.    pdist_scale: 0.9
  23.    gdist_scale: 0.6
  24.    meter_scoring: true
  25.  
  26.    heading_lookahead: 0.325
  27.    heading_scoring: false
  28.    heading_scoring_timestep: 0.8
  29.    occdist_scale: 0.1
  30.    oscillation_reset_dist: 0.05
  31.    publish_cost_grid_pc: false
  32.    prune_plan: true
  33.  
  34.    sim_time: 1.0
  35.    sim_granularity: 0.025
  36.    angular_sim_granularity: 0.025
  37.    vx_samples: 8
  38.    vy_samples: 0 # zero for a differential drive robot
  39.    vtheta_samples: 20
  40.    dwa: true
  41.    simple_attractor: false

4.costmap_common_params.yaml

  1. obstacle_range: 2.5
  2. raytrace_range: 3.0
  3. footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
  4. footprint_inflation: 0.01
  5. robot_radius: 0.175
  6. inflation_radius: 0.15
  7. max_obstacle_height: 0.6
  8. min_obstacle_height: 0.0
  9. observation_sources: scan
  10. scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

5.global_costmap_params.yaml

  1. global_costmap:
  2.    global_frame: map
  3.    robot_base_frame: base_footprint
  4.    update_frequency: 1.0
  5.    publish_frequency: 1.0
  6.    static_map: true
  7.    rolling_window: false
  8.    resolution: 0.01
  9.    transform_tolerance: 1.0
  10.    map_type: costmap

6.local_costmap_params.yaml

  1. local_costmap:
  2.    global_frame: odom
  3.    robot_base_frame: base_footprint
  4.    update_frequency: 3.0
  5.    publish_frequency: 1.0
  6.    static_map: true
  7.    rolling_window: false
  8.    width: 6.0
  9.    height: 6.0
  10.    resolution: 0.01
  11.    transform_tolerance: 1.0

launch文件夹下存放以下三个文件：

7.amcl.launch

  1. <launch>
  2.     <arg name="use_map_topic" default="false"/>
  3.     <arg name="scan_topic" default="scan"/>
  4.  
  5.     <node pkg="amcl" type="amcl" name="amcl" clear_params="true">
  6.         <param name="use_map_topic" value="$(arg use_map_topic)"/>
  7.         <!-- Publish scans from best pose at a max of 10 Hz -->
  8.         <param name="odom_model_type" value="diff"/>
  9.         <param name="odom_alpha5" value="0.1"/>
  10.         <param name="gui_publish_rate" value="10.0"/>
  11.         <param name="laser_max_beams" value="60"/>
  12.         <param name="laser_max_range" value="12.0"/>
  13.         <param name="min_particles" value="500"/>
  14.         <param name="max_particles" value="2000"/>
  15.         <param name="kld_err" value="0.05"/>
  16.         <param name="kld_z" value="0.99"/>
  17.         <param name="odom_alpha1" value="0.2"/>
  18.         <param name="odom_alpha2" value="0.2"/>
  19.         <!-- translation std dev, m -->
  20.         <param name="odom_alpha3" value="0.2"/>
  21.         <param name="odom_alpha4" value="0.2"/>
  22.         <param name="laser_z_hit" value="0.5"/>
  23.         <param name="laser_z_short" value="0.05"/>
  24.         <param name="laser_z_max" value="0.05"/>
  25.         <param name="laser_z_rand" value="0.5"/>
  26.         <param name="laser_sigma_hit" value="0.2"/>
  27.         <param name="laser_lambda_short" value="0.1"/>
  28.         <param name="laser_model_type" value="likelihood_field"/>
  29.         <!-- <param name="laser_model_type" value="beam"/> -->
  30.         <param name="laser_likelihood_max_dist" value="2.0"/>
  31.         <param name="update_min_d" value="0.25"/>
  32.         <param name="update_min_a" value="0.2"/>
  33.         <param name="odom_frame_id" value="odom"/>
  34.         <param name="resample_interval" value="1"/>
  35.         <!-- Increase tolerance because the computer can get quite busy -->
  36.         <param name="transform_tolerance" value="1.0"/>
  37.         <param name="recovery_alpha_slow" value="0.0"/>
  38.         <param name="recovery_alpha_fast" value="0.0"/>
  39.         <remap from="scan" to="$(arg scan_topic)"/>
  40.     </node>
  41. </launch>

8.move_base.launch

  1. <launch>
  2.  
  3.   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
  4.     <rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="global_costmap" />
  5.     <rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="local_costmap" />
  6.     <rosparam file="$(find mbot_navigation)/config/mbot/local_costmap_params.yaml" command="load" />
  7.     <rosparam file="$(find mbot_navigation)/config/mbot/global_costmap_params.yaml" command="load" />
  8.     <rosparam file="$(find mbot_navigation)/config/mbot/base_local_planner_params.yaml" command="load" />
  9.   </node>
  10.   
  11. </launch>

9.nav_cloister_demo.launch

  1. <launch>
  2.  
  3.     <!-- 设置地图的配置文件 -->
  4.     <arg name="map" default="map.yaml" />
  5.  
  6.     <!-- 运行地图服务器，并且加载设置的地图-->
  7.     <node name="map_server" pkg="map_server" type="map_server" args="$(find mbot_navigation)/maps/$(arg map)"/>
  8.  
  9.     <!-- 运行move_base节点 -->
  10.     <include file="$(find mbot_navigation)/launch/move_base.launch"/>
  11.  
  12.     <!-- 启动AMCL节点 -->
  13.     <include file="$(find mbot_navigation)/launch/amcl.launch" />
  14.  
  15.     <!-- 对于虚拟定位，需要设置一个/odom与/map之间的静态坐标变换 -->
  16.     <node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />
  17.  
  18.     <!-- 运行rviz -->
  19.     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/nav.rviz"/>
  20.  
  21. </launch>

10.map

map文件夹中的内容参考我发布的《在激光雷达仿真环境下使用古月居提供的cartographer算法SLAM，最终导出 .pgm 与 .yaml 地图文件全过程》注意修改.yaml文件中的地图路径！！！

我的是：image: /home/rws/catkin_mbot/src/mbot_navigation/maps/map.pgm

11.rviz文件夹中创建nav.rviz文件

  1. Panels:
  2.   - Class: rviz/Displays
  3.     Help Height: 78
  4.     Name: Displays
  5.     Property Tree Widget:
  6.       Expanded:
  7.         - /Global Options1
  8.         - /RobotModel1/Links1/base_footprint1
  9.         - /Pose Array1
  10.       Splitter Ratio: 0.652661026
  11.     Tree Height: 691
  12.   - Class: rviz/Selection
  13.     Name: Selection
  14.   - Class: rviz/Tool Properties
  15.     Expanded:
  16.       - /2D Pose Estimate1
  17.       - /2D Nav Goal1
  18.     Name: Tool Properties
  19.     Splitter Ratio: 0.428570986
  20.   - Class: rviz/Views
  21.     Expanded:
  22.       - /Current View1
  23.     Name: Views
  24.     Splitter Ratio: 0.5
  25.   - Class: rviz/Time
  26.     Experimental: false
  27.     Name: Time
  28.     SyncMode: 0
  29.     SyncSource: LaserScan
  30. Visualization Manager:
  31.   Class: ""
  32.   Displays:
  33.     - Alpha: 0.5
  34.       Cell Size: 0.5
  35.       Class: rviz/Grid
  36.       Color: 0; 0; 0
  37.       Enabled: true
  38.       Line Style:
  39.         Line Width: 0.0299999993
  40.         Value: Lines
  41.       Name: Grid
  42.       Normal Cell Count: 0
  43.       Offset:
  44.         X: 0
  45.         Y: 0
  46.         Z: 0
  47.       Plane: XY
  48.       Plane Cell Count: 80
  49.       Reference Frame: odom
  50.       Value: true
  51.     - Angle Tolerance: 0.100000001
  52.       Class: rviz/Odometry
  53.       Covariance:
  54.         Orientation:
  55.           Alpha: 0.5
  56.           Color: 255; 255; 127
  57.           Color Style: Unique
  58.           Frame: Local
  59.           Offset: 1
  60.           Scale: 1
  61.           Value: true
  62.         Position:
  63.           Alpha: 0.300000012
  64.           Color: 204; 51; 204
  65.           Scale: 1
  66.           Value: true
  67.         Value: true
  68.       Enabled: false
  69.       Keep: 100
  70.       Name: Odometry
  71.       Position Tolerance: 0.100000001
  72.       Shape:
  73.         Alpha: 1
  74.         Axes Length: 1
  75.         Axes Radius: 0.100000001
  76.         Color: 255; 25; 0
  77.         Head Length: 0.300000012
  78.         Head Radius: 0.100000001
  79.         Shaft Length: 1
  80.         Shaft Radius: 0.0500000007
  81.         Value: Arrow
  82.       Topic: /odom
  83.       Unreliable: false
  84.       Value: false
  85.     - Angle Tolerance: 0.100000001
  86.       Class: rviz/Odometry
  87.       Covariance:
  88.         Orientation:
  89.           Alpha: 0.5
  90.           Color: 255; 255; 127
  91.           Color Style: Unique
  92.           Frame: Local
  93.           Offset: 1
  94.           Scale: 1
  95.           Value: true
  96.         Position:
  97.           Alpha: 0.300000012
  98.           Color: 204; 51; 204
  99.           Scale: 1
  100.           Value: true
  101.         Value: true
  102.       Enabled: false
  103.       Keep: 100
  104.       Name: Odometry EKF
  105.       Position Tolerance: 0.100000001
  106.       Shape:
  107.         Alpha: 1
  108.         Axes Length: 1
  109.         Axes Radius: 0.100000001
  110.         Color: 255; 25; 0
  111.         Head Length: 0.300000012
  112.         Head Radius: 0.100000001
  113.         Shaft Length: 1
  114.         Shaft Radius: 0.0500000007
  115.         Value: Arrow
  116.       Topic: /odom
  117.       Unreliable: false
  118.       Value: false
  119.     - Alpha: 1
  120.       Class: rviz/RobotModel
  121.       Collision Enabled: false
  122.       Enabled: true
  123.       Links:
  124.         All Links Enabled: true
  125.         Expand Joint Details: false
  126.         Expand Link Details: false
  127.         Expand Tree: false
  128.         Link Tree Style: Links in Alphabetic Order
  129.         back_caster_link:
  130.           Alpha: 1
  131.           Show Axes: false
  132.           Show Trail: false
  133.           Value: true
  134.         base_footprint:
  135.           Alpha: 1
  136.           Show Axes: false
  137.           Show Trail: false
  138.           Value: true
  139.         base_link:
  140.           Alpha: 1
  141.           Show Axes: false
  142.           Show Trail: false
  143.           Value: true
  144.         front_caster_link:
  145.           Alpha: 1
  146.           Show Axes: false
  147.           Show Trail: false
  148.           Value: true
  149.         laser_link:
  150.           Alpha: 1
  151.           Show Axes: false
  152.           Show Trail: false
  153.           Value: true
  154.         left_wheel_link:
  155.           Alpha: 1
  156.           Show Axes: false
  157.           Show Trail: false
  158.           Value: true
  159.         right_wheel_link:
  160.           Alpha: 1
  161.           Show Axes: false
  162.           Show Trail: false
  163.           Value: true
  164.       Name: RobotModel
  165.       Robot Description: robot_description
  166.       TF Prefix: ""
  167.       Update Interval: 0
  168.       Value: true
  169.       Visual Enabled: true
  170.     - Alpha: 0.699999988
  171.       Class: rviz/Map
  172.       Color Scheme: map
  173.       Draw Behind: true
  174.       Enabled: true
  175.       Name: Map
  176.       Topic: /map
  177.       Unreliable: false
  178.       Use Timestamp: false
  179.       Value: true
  180.     - Alpha: 1
  181.       Buffer Length: 1
  182.       Class: rviz/Path
  183.       Color: 255; 0; 0
  184.       Enabled: true
  185.       Head Diameter: 0.300000012
  186.       Head Length: 0.200000003
  187.       Length: 0.300000012
  188.       Line Style: Lines
  189.       Line Width: 0.0299999993
  190.       Name: Local Plan
  191.       Offset:
  192.         X: 0
  193.         Y: 0
  194.         Z: 0
  195.       Pose Color: 255; 85; 255
  196.       Pose Style: None
  197.       Radius: 0.0299999993
  198.       Shaft Diameter: 0.100000001
  199.       Shaft Length: 0.100000001
  200.       Topic: /move_base/TrajectoryPlannerROS/local_plan
  201.       Unreliable: false
  202.       Value: true
  203.     - Alpha: 1
  204.       Buffer Length: 1
  205.       Class: rviz/Path
  206.       Color: 0; 213; 0
  207.       Enabled: true
  208.       Head Diameter: 0.300000012
  209.       Head Length: 0.200000003
  210.       Length: 0.300000012
  211.       Line Style: Lines
  212.       Line Width: 0.0299999993
  213.       Name: Global Plan
  214.       Offset:
  215.         X: 0
  216.         Y: 0
  217.         Z: 0
  218.       Pose Color: 255; 85; 255
  219.       Pose Style: None
  220.       Radius: 0.0299999993
  221.       Shaft Diameter: 0.100000001
  222.       Shaft Length: 0.100000001
  223.       Topic: /move_base/TrajectoryPlannerROS/global_plan
  224.       Unreliable: false
  225.       Value: true
  226.     - Alpha: 1
  227.       Arrow Length: 0.300000012
  228.       Axes Length: 0.300000012
  229.       Axes Radius: 0.00999999978
  230.       Class: rviz/PoseArray
  231.       Color: 170; 255; 127
  232.       Enabled: true
  233.       Head Length: 0.0700000003
  234.       Head Radius: 0.0299999993
  235.       Name: Pose Array
  236.       Shaft Length: 0.230000004
  237.       Shaft Radius: 0.00999999978
  238.       Shape: Arrow (Flat)
  239.       Topic: /particlecloud
  240.       Unreliable: false
  241.       Value: true
  242.     - Alpha: 1
  243.       Autocompute Intensity Bounds: true
  244.       Autocompute Value Bounds:
  245.         Max Value: 0.30399999
  246.         Min Value: 0.30399999
  247.         Value: true
  248.       Axis: Z
  249.       Channel Name: intensity
  250.       Class: rviz/LaserScan
  251.       Color: 255; 0; 0
  252.       Color Transformer: FlatColor
  253.       Decay Time: 0
  254.       Enabled: true
  255.       Invert Rainbow: false
  256.       Max Color: 255; 255; 255
  257.       Max Intensity: 4096
  258.       Min Color: 0; 0; 0
  259.       Min Intensity: 0
  260.       Name: LaserScan
  261.       Position Transformer: XYZ
  262.       Queue Size: 10
  263.       Selectable: true
  264.       Size (Pixels): 3
  265.       Size (m): 0.00999999978
  266.       Style: Points
  267.       Topic: /scan
  268.       Unreliable: false
  269.       Use Fixed Frame: true
  270.       Use rainbow: true
  271.       Value: true
  272.     - Alpha: 1
  273.       Axes Length: 1
  274.       Axes Radius: 0.100000001
  275.       Class: rviz/Pose
  276.       Color: 0; 255; 0
  277.       Enabled: true
  278.       Head Length: 0.100000001
  279.       Head Radius: 0.150000006
  280.       Name: Goal Pose
  281.       Shaft Length: 0.5
  282.       Shaft Radius: 0.0299999993
  283.       Shape: Arrow
  284.       Topic: /move_base_simple/goal
  285.       Unreliable: false
  286.       Value: true
  287.     - Alpha: 0.699999988
  288.       Class: rviz/Map
  289.       Color Scheme: costmap
  290.       Draw Behind: false
  291.       Enabled: true
  292.       Name: Inflated Obstacles
  293.       Topic: /move_base/local_costmap/costmap
  294.       Unreliable: false
  295.       Use Timestamp: false
  296.       Value: true
  297.     - Class: rviz/Marker
  298.       Enabled: true
  299.       Marker Topic: /waypoint_markers
  300.       Name: Marker
  301.       Namespaces:
  302.         {}
  303.       Queue Size: 100
  304.       Value: true
  305.   Enabled: true
  306.   Global Options:
  307.     Background Color: 0; 0; 0
  308.     Default Light: true
  309.     Fixed Frame: map
  310.     Frame Rate: 30
  311.   Name: root
  312.   Tools:
  313.     - Class: rviz/MoveCamera
  314.     - Class: rviz/Interact
  315.       Hide Inactive Objects: true
  316.     - Class: rviz/Select
  317.     - Class: rviz/SetInitialPose
  318.       Topic: /initialpose
  319.     - Class: rviz/SetGoal
  320.       Topic: /move_base_simple/goal
  321.   Value: true
  322.   Views:
  323.     Current:
  324.       Angle: -6.3000164
  325.       Class: rviz/TopDownOrtho
  326.       Enable Stereo Rendering:
  327.         Stereo Eye Separation: 0.0599999987
  328.         Stereo Focal Distance: 1
  329.         Swap Stereo Eyes: false
  330.         Value: false
  331.       Invert Z Axis: false
  332.       Name: Current View
  333.       Near Clip Distance: 0.00999999978
  334.       Scale: 52.4497948
  335.       Target Frame: <Fixed Frame>
  336.       Value: TopDownOrtho (rviz)
  337.       X: 0.412709981
  338.       Y: -2.02176332
  339.     Saved: ~
  340. Window Geometry:
  341.   Displays:
  342.     collapsed: false
  343.   Height: 904
  344.   Hide Left Dock: false
  345.   Hide Right Dock: false
  346.   QMainWindow State: 000000ff00000000fd00000004000000000000016a00000342fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000198000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000342000000d700ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004280000034200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  347.   Selection:
  348.     collapsed: false
  349.   Time:
  350.     collapsed: false
  351.   Tool Properties:
  352.     collapsed: false
  353.   Views:
  354.     collapsed: false
  355.   Width: 1432
  356.   X: 2298
  357.   Y: 239

12.编译

  1. cd ~/catkin_mbot
  2. catkin_make

六、 gazebo仿真中用到的模型以及本文整个工作空间以上传到如下链接

对应《ROS环境下利用cartographer以及move_base功能包实现差速小车在仿真环境中路径规划》-Linux文档类资源-CSDN下载对应《ROS环境下利用cartographer以及move_base功能包实现差速小车在仿真环境中路更多下载资源、学习资料请访问CSDN下载频道.https://download.csdn.net/download/qq_40789719/85161158

七、最终测试

  1. source ~/catkin_mbot/devel/setup.bash 
  2. roslaunch mymbot_gazebo view_mbot_with_laser_gazebo.launch
  1. source ~/catkin_mbot/devel/setup.bash 
  2. roslaunch mbot_navigation nav_cloister_demo.launch

差速小车路径规划仿真

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