ros1仿真导航机器人 hector_mapping gmapping

仅为学习记录和一些自己的思考，不具有参考意义。

1 hector_mapping

建图过程

（1）gazebo仿真

roslaunch why_simulation why_slam.launch 

<launch>
 
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find why_simulation)/worlds/slam_simple.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>
 
  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/wpb_home.model -urdf -x -0.0 -y -0.0 -model wpb_home" />
 
  <!-- tf -->
  <arg name="model" default="$(find why_simulation)/models/wpb_home.model"/>
  <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 
</launch>

（2）启动建图节点

rosrun hector_mapping hector_mapping

（3）rviz

rviz

将所需要的模块添加进去之后，保存为hector.rviz文件。

（4）控制机器人运动

rosrun rqt_robot_steering rqt_robot_steering

建图结果

launch

新建一个launch文件，将以上四条指令添加到launch文件中。

<launch>
 
    <include file="$(find why_simulation)/launch/why_slam.launch"/>
    <node name="hector_mapping" pkg="hector_mapping" type="hector_mapping" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find why_simulation)/rviz/hector.rviz"/>
    <node name="rqt_robot_steering" pkg="rqt_robot_steering " type="rqt_robot_steering " />
  
</launch>

查找参数

ROS Indexa community-maintained index of robotics softwarehttps://index.ros.org/

（1）搜索hector_mapping

（2）选择Website

即可查看到有哪些参数可以设置

设置参数

<launch>
 
    <include file="$(find why_simulation)/launch/why_slam.launch"/>
 
    <node name="hector_mapping" pkg="hector_mapping" type="hector_mapping" output="screen">
        <param name="map_update_distance_thresh" value="0.1"/>
        <param name="map_update_angle_thresh " value="0.1"/>
        <param name="map_pub_period " value="0.1"/>
    </node>
 
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find why_simulation)/rviz/hector.rviz"/>
    <node name="rqt_robot_steering" pkg="rqt_robot_steering " type="rqt_robot_steering " />
  
</launch>

2 gmapping

建图过程

（1）gazebo环境

roslaunch why_simulation why_robocup.launch 

<launch>
 
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find why_simulation)/worlds/why_robocup.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>
 
  <!-- Spawn the objects into Gazebo -->
  <node name="bed" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/bed.model -x 5.0 -y -3.9 -z 0 -Y 3.14159 -urdf -model bed" />
  <node name="sofa" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/sofa.model -x -1.0 -y -3.9 -z 0 -Y 1.57 -urdf -model sofa" />
  <node name="tea_table" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/tea_table.model -x -2.1 -y -2.2 -z 0 -Y 1.57 -urdf -model tea_table" />
  <node name="bookshelft" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/bookshelft.model -x 2.0 -y -0.55 -z 0 -Y -1.57 -urdf -model bookshelft" />
 
  <node name="kitchen_table" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/table.model -x -3.5 -y 3.7 -z 0 -Y 1.57 -urdf -model kitchen_table" /> 
 
  <node name="cupboard_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/cupboard.model -x -2.0 -y 0.7 -z 0 -Y 1.57 -urdf -model cupboard_0" />
  <node name="cupboard_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/cupboard.model -x -1.3 -y 3.7 -z 0 -Y -1.57 -urdf -model cupboard_1" /> 
 
  <node name="dinning_table_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/table.model -x 1.5 -y 1.5 -z 0 -Y 1.57 -urdf -model dinning_table_0" />
  <node name="dinning_table_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/table.model -x 1.5 -y 2.0 -z 0 -Y 1.57 -urdf -model dinning_table_1" />
  <node name="dinning_table_2" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/table.model -x 2.7 -y 1.5 -z 0 -Y 1.57 -urdf -model dinning_table_2" />
  <node name="dinning_table_3" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/table.model -x 2.7 -y 2.0 -z 0 -Y 1.57 -urdf -model dinning_table_3" />
 
  <node name="chair_0" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/chair.model -x 1.5 -y 1.2 -z 0 -Y 1.57 -urdf -model chair_0" />
  <node name="chair_1" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/chair.model -x 1.5 -y 2.3 -z 0 -Y -1.57 -urdf -model chair_1" />
  <node name="chair_2" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/chair.model -x 2.7 -y 1.2 -z 0 -Y 1.57 -urdf -model chair_2" />
  <node name="chair_3" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/chair.model -x 2.7 -y 2.3 -z 0 -Y -1.57 -urdf -model chair_3" />
 
  <!-- Spawn a robot into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find why_simulation)/models/wpb_home.model -urdf -x 0.0 -y -0.0 -model wpb_home" />
 
  <!-- tf -->
  <arg name="model" default="$(find why_simulation)/models/wpb_home.model"/>
  <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 
  <!-- lidar filter-->
  <node pkg="why_simulation" type="lidar_filter" name="lidar_filter" />
 
</launch>

（2）启动gmapping节点

rosrun gmapping slam_gmapping

（3）rviz

rviz

保存成gmapping.rviz

（4）控制机器人移动

rosrun why_simulation keyboard_vel_ctrl

建图结果

launch

新建launch文件gmapping.launch，接上述指令添加到launch文件里

<launch>
 
    <include file="$(find why_simulation)/launch/why_robocup.launch"/>
 
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping"/>
 
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find why_simulation)/rviz/gmapping.rviz"/>
    <node name="why_simulation" pkg="keyboard_vel_ctrl " type="keyboard_vel_ctrl " />
  
</launch>

设置参数

<launch>
 
    <include file="$(find why_simulation)/launch/why_robocup.launch"/>
 
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
        <param name="map_update_interval" value="0.5"/>
        <param name="linearUpdate " value="0.1"/>
    </node>
 
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find why_simulation)/rviz/gmapping.rviz"/>
    <node name="why_simulation" pkg="keyboard_vel_ctrl " type="keyboard_vel_ctrl " />
  
</launch>

3保存地图

rosrun map_server map_saver -f map

4加载地图

roscore

rosrun map_server map_server map.yaml

rviz

5 对比

hector_mapping不使用里程计，长直的路径存在建图错误，gmapping使用里程计。