企业官网建设流程全解析

这是一篇真博客,LZ三月中旬开始接触ROS,当然中间也有七七八八一些事情,有所耽搁,所以进度不是很快.一开始是朝着三维建图方向,后面导师说还要加上导航,恩(^o)/~ 那就学ros当中的navigation的部分呗.后来发现,LZ还是太年轻了,通常情况下navigation要包括move_base部分,然后就开始了参数的配置.

后来LZ发现,如果想要基本用起来ROS,launch文件特别重要,所以之前LZ写了一篇关于launch文件的介绍,如果小伙伴不是很清楚,可以看下https://blog.csdn.net/felaim/article/details/80244232,这篇文章还是蛮重要的.

对大神来说这篇博客可能很简单,LZ是ROS新手,所以事无巨细,能记录下来就记录下来.而且LZ的机器人是Pioneer3at,网上都是turblet的教程,对LZ来说并不适用.所以配置文件需要修改参数.下面就一步一步进行记录.

首先第一步

roscore

第二步:
到对应的ros工作空间下运行,LZ的是如下,嘿嘿,有felaim的标签啦:

roslaunch felaim_2dnav felaim_robot.launch

felaim_robot.launch,使用rosaria节点的时候要加上之前进行线速度和角速度校正的系数

<launch> <!-- Starting rosaria driver for motors and encoders --> <node name="rosaria" pkg="rosaria" type="RosAria" args="_port:=/dev/ttyUSB0"> <param name="DriftFactor" value="0"/> <param name="TicksMM" value="138"/> <param name="RevCount" value="16485"/> <remap from="rosaria/cmd_vel" to="cmd_vel"/> <remap from="rosaria/pose" to="odom"/> </node> <!-- Launching p2os RobotModel --> <include file="$(find felaim_2dnav)/launch/pioneer3at_urdf.launch"/> </launch>

这个launch是连接pioneer3at和电脑的,并且下载对应的pioneer3at和kinect的模型

第三步:
启动kinect,并把对应的点云转换成对应的laser

roslaunch felaim_2dnav pioneer3at_fake_laser

pioneer3at_fake_laser_freenect.launch

<launch> <!-- Launch the freenect driver --> <include file="$(find freenect_launch)/launch/freenect.launch"> <!-- Don't publish the camera frames when using with the Turtlebot --> <arg name="publish_tf" value="false" /> <!-- use device registration --> <arg name="depth_registration" value="true" /> <arg name="rgb_processing" value="true" /> <arg name="ir_processing" value="false" /> <arg name="depth_processing" value="false" /> <arg name="depth_registered_processing" value="true" /> <arg name="disparity_processing" value="false" /> <arg name="disparity_registered_processing" value="false" /> <arg name="sw_registered_processing" value="false" /> <arg name="hw_registered_processing" value="true" /> </include> <!-- Run the depthimage_to_laserscan node --> <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen"> <remap from="image" to="/camera/depth_registered/image_raw" /> <remap from="camera_info" to="/camera/depth_registered/camera_info" /> <remap from="scan" to="/scan" /> <param name="output_frame_id" value="/camera_depth_frame" /> </node> </launch>

第四步:
启动move_base节点

roslaunch felaim_2dnav tb_move_base_link_map.launch

tb_move_base_blank_map.launch

<launch> <!-- Launch move_base and load all navigation parameters --> <include file="$(find felaim_2dnav)/launch/tb_move_base.launch" /> <!-- Run the map server with a blank map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/blank_map.yaml" /> <!-- Run a static transform between /odom and /map --> <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /> </launch>

第五步:
对导航进行可视化:

rosrun rviz rviz -d `rospack felaim_2dnav`/launch/pioneer3at_kinect.rviz

pioneer3at_kinect.rviz

Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - /Inflated Obstacles1 Splitter Ratio: 0.5 Tree Height: 565 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: LaserScan Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.03 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 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 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Flat Squares Topic: /scan Unreliable: false Use Fixed Frame: true Use rainbow: true 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 base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true camera_depth_frame: Alpha: 1 Show Axes: false Show Trail: false camera_depth_optical_frame: Alpha: 1 Show Axes: false Show Trail: false camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true camera_rgb_frame: Alpha: 1 Show Axes: false Show Trail: false camera_rgb_optical_frame: Alpha: 1 Show Axes: false Show Trail: false p3at_back_left_axle: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_back_left_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_back_left_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_back_right_axle: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_back_right_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_back_right_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_left_axle: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_left_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_left_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_right_axle: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_right_hub: Alpha: 1 Show Axes: false Show Trail: false Value: true p3at_front_right_wheel: Alpha: 1 Show Axes: false Show Trail: false Value: true top_plate: 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 - Alpha: 0.7 Class: rviz/Map Color Scheme: map Draw Behind: false Enabled: true Name: Map Topic: "" Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.3 Head Length: 0.2 Length: 0.3 Line Style: Lines Line Width: 0.03 Name: Global_Plan Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.03 Shaft Diameter: 0.1 Shaft Length: 0.1 Topic: /move_base/TrajectoryPlannerROS/global_plan Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Head Diameter: 0.3 Head Length: 0.2 Length: 0.3 Line Style: Lines Line Width: 0.03 Name: Local_Plan Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.03 Shaft Diameter: 0.1 Shaft Length: 0.1 Topic: /move_base/TrajectoryPlannerROS/local_plan Unreliable: false Value: true - Angle Tolerance: 0.1 Class: rviz/Odometry Color: 255; 25; 0 Enabled: true Keep: 100 Length: 1 Name: Odometry Position Tolerance: 0.1 Topic: /odom Value: true - Arrow Length: 0.3 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: true Name: PoseArray Topic: "" Unreliable: false Value: true - Alpha: 1 Class: rviz/Map Color Scheme: costmap Draw Behind: false Enabled: true Name: Inflated Obstacles Topic: /move_base/local_costmap/costmap Unreliable: false Value: true - Alpha: 1 Axes Length: 1 Axes Radius: 0.1 Class: rviz/Pose Color: 255; 25; 0 Enabled: true Head Length: 0.3 Head Radius: 0.1 Name: Mouse Goal Shaft Length: 1 Shaft Radius: 0.05 Shape: Arrow Topic: /move_base/current_goal Unreliable: false Value: true Enabled: true Global Options: Background Color: 48; 48; 48 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 Topic: /initialpose - 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: 2.1996 Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: 0 Y: 0 Z: 0 Name: Current View Near Clip Distance: 0.01 Pitch: 0.484797 Target Frame: <Fixed Frame> Value: Orbit (rviz) Yaw: 1.85538 Saved: ~ Window Geometry: Displays: collapsed: false Height: 846 Hide Left Dock: false Hide Right Dock: true QMainWindow State: 000000ff00000000fd0000000400000000000001c5000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002e5000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1200 X: 76 Y: 181

白色的是转换的laser数据, 蓝色的是膨胀后的安全距离,pioneer3at的模型如图所示,仔细看还可以发现kinect,模型中的tf变化和实际的测量相同.

哈哈,如果小伙伴有耐心,应该就能看到最后的效果图_(≧▽≦)/啦啦啦,虽然简单,但是还是成就感满满^_