教程八 建图与导航同时进行教程

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ugv02使用教程

功能包简介

在前面的教程中机器人的建图和导航是分开进行的。
需预先完成建图才能开始导航,这十分的不方便,且只能在已建好的固定大小地图中导航没法探索未知区域。
那是否有办法把建图和导航同时进行呢?
接下来将跟随教程去实现这一功能。

例程

配置新的导航参数

在/home/waveshare/test/ugv02/src/ugv02_bringup/params/中新建文件slam_and_nav.yaml

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_bt_node
      - nav2_clear_costmap_service_bt_node
      - nav2_is_stuck_condition_bt_node
      - nav2_goal_reached_condition_bt_node
      - nav2_goal_updated_condition_bt_node
      - nav2_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_initial_pose_received_condition_bt_node
      - nav2_reinitialize_global_localization_service_bt_node
      - nav2_rate_controller_bt_node
      - nav2_distance_controller_bt_node
      - nav2_speed_controller_bt_node
      - nav2_truncate_path_action_bt_node
      - nav2_truncate_path_local_action_bt_node
      - nav2_goal_updater_node_bt_node
      - nav2_recovery_node_bt_node
      - nav2_pipeline_sequence_bt_node
      - nav2_round_robin_node_bt_node
      - nav2_transform_available_condition_bt_node
      - nav2_time_expired_condition_bt_node
      - nav2_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_bt_node
      - nav2_is_battery_low_condition_bt_node
      - nav2_navigate_through_poses_action_bt_node
      - nav2_navigate_to_pose_action_bt_node
      - nav2_remove_passed_goals_action_bt_node
      - nav2_planner_selector_bt_node
      - nav2_controller_selector_bt_node
      - nav2_goal_checker_selector_bt_node
      - nav2_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.05
      yaw_goal_tolerance: 0.1
    # DWB parameters
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.3
      lookahead_dist: 0.6
      min_lookahead_dist: 0.4
      max_lookahead_dist: 0.6
      lookahead_time: 1.5
      rotate_to_heading_angular_vel: 0.6
      transform_tolerance: 0.1
      use_velocity_scaled_lookahead_dist: false
      min_approach_linear_velocity: 0.05
      approach_velocity_scaling_dist: 0.6
      use_collision_detection: true
      max_allowed_time_to_collision_up_to_carrot: 1.0
      use_regulated_linear_velocity_scaling: true
      use_fixed_curvature_lookahead: false
      curvature_lookahead_dist: 0.15
      use_cost_regulated_linear_velocity_scaling: false
      regulated_linear_scaling_min_radius: 0.6
      regulated_linear_scaling_min_speed: 0.15
      use_rotate_to_heading: true
      allow_reversing: false
      rotate_to_heading_min_angle: 0.785
      max_angular_accel: 1.2
      max_robot_pose_search_dist: 10.0
      use_interpolation: false

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.12
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.12
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      always_send_full_costmap: True

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    use_sim_time: True
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    use_sim_time: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.26, 0.0, 1.0]
    min_velocity: [-0.26, 0.0, -1.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

里面的配置与上一节中的参数配置最主要的差别在于缺少了amcl和map_server两部分
amcl主要其定位作用,其需要里程计配合雷达做机器人位置估计。
map_server其为地图服务器,它主要提供静态格栅地图数据,提供给amcl进行位置估算。

配置launch启动文件

在ugv02/src/ugv02_bringup/launch/中新建文件slam_and_nav_bringup_launch.py 编写其中的内容为:

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
                            IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from nav2_common.launch import RewrittenYaml


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('ugv02_bringup')
    nav2_dir = get_package_share_directory('nav2_bringup')
    launch_dir = os.path.join(nav2_dir, 'launch')

    # Create the launch configuration variables
    namespace = LaunchConfiguration('namespace')
    use_namespace = LaunchConfiguration('use_namespace')
    slam = LaunchConfiguration('slam')
    use_sim_time = LaunchConfiguration('use_sim_time')
    params_file = LaunchConfiguration('params_file')
    autostart = LaunchConfiguration('autostart')
    use_composition = LaunchConfiguration('use_composition')
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')

    remappings = [('/tf', 'tf'),
                  ('/tf_static', 'tf_static')]

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {
        'use_sim_time': use_sim_time}

    configured_params = RewrittenYaml(
        source_file=params_file,
        root_key=namespace,
        param_rewrites=param_substitutions,
        convert_types=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_use_namespace_cmd = DeclareLaunchArgument(
        'use_namespace',
        default_value='false',
        description='Whether to apply a namespace to the navigation stack')

    declare_slam_cmd = DeclareLaunchArgument(
        'slam',
        default_value='False',
        description='Whether run a SLAM')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true')

    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'params', 'slam_and_nav.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes')

    declare_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='True',
        description='Whether to use composed bringup')

    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn', default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.')

    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')

    # Specify the actions
    bringup_cmd_group = GroupAction([
        PushRosNamespace(
            condition=IfCondition(use_namespace),
            namespace=namespace),

        Node(
            condition=IfCondition(use_composition),
            name='nav2_container',
            package='rclcpp_components',
            executable='component_container_isolated',
            parameters=[configured_params, {'autostart': autostart}],
            arguments=['--ros-args', '--log-level', log_level],
            remappings=remappings,
            output='screen'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
            condition=IfCondition(slam),
            launch_arguments={'namespace': namespace,
                              'use_sim_time': use_sim_time,
                              'autostart': autostart,
                              'use_respawn': use_respawn,
                              'params_file': params_file}.items()),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
            launch_arguments={'namespace': namespace,
                              'use_sim_time': use_sim_time,
                              'autostart': autostart,
                              'params_file': params_file,
                              'use_composition': use_composition,
                              'use_respawn': use_respawn,
                              'container_name': 'nav2_container'}.items()),
    ])

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_namespace_cmd)
    ld.add_action(declare_slam_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)

    # Add the actions to launch all of the navigation nodes
    ld.add_action(bringup_cmd_group)

    return ld

里面的配置也是缺少了地图和定位两部分
缺失的地图和定位将有你的slam算法来补充实现。

编译

返回工作空间并编译

cd ~/ugv02
colcon build

运行测试

新开一个终端页面,进入工作空间,source一下,以及启动*教程五 ugv02使用雷达教程中的雷达

cd ~/ugv02
source ./install/setup.bash
ros2 launch ldlidar_stl_ros2 ld19.launch.py

新开一个终端页面,进入工作空间,source一下,以及启动*教程六 cartographer建图教程中的建图

cd ~/ugv02
source ./install/setup.bash
ros2 launch ugv02_cartographer cartographer.launch.py

新开一个终端页面,进入工作空间,source一下,以及启动本节教程中新增的launch文件

cd ~/ugv02
source ./install/setup.bash
ros2 launch ugv02_bringup slam_and_nav_bringup_launch.py

新开一个终端页面,进入工作空间,source一下,以及启动*教程三 底盘控制教程中的底盘控制

cd ~/ugv02
source ./install/setup.bash
ros2 run communication_module ugv02_control

在装有ubuntu系统及ros2的电脑(虚拟机)中,确保该电脑与树莓派连接了同一个网络或wifi,新开一个终端。

rviz2