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室内导航(ubuntu16.04)

程序员文章站 2022-06-22 19:11:25
首先第一步更改权限:catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py一 传感器仿真1 创建简单小车仿真环境1. 创建只有小车的空环境roslaunch mbot_gazebo view_mbot_gazebo_empty_world.launch2. 小车在复杂环境中仿真roslaunch mbot_gazebo view_mbot_gazebo_play_ground.launch3. 键盘控制roslaunch...

首先第一步更改权限:catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py

一、传感器仿真

1、创建简单小车仿真环境

(1)创建只有小车的空环境

roslaunch mbot_gazebo view_mbot_gazebo_empty_world.launch

室内导航(ubuntu16.04)

(2)小车在复杂环境中仿真

roslaunch mbot_gazebo view_mbot_gazebo_play_ground.launch

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(3)键盘控制

roslaunch mbot_teleop mbot_teleop.launch

2 带有摄像头小车的仿真

(1)启动仿真环境

roslaunch mbot_gazebo view_mbot_with_camera_gazebo.launch

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(2)查看摄像头仿真图像

rqt_image_view

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注意:如果输入rqt_image_view时gazebo命令窗口出现错误,可能是gazebo和rviz版本不一致造成的,输入以下命令更新gazebo即可

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

 

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo7 gazebo7-common

3、带有Kinect双目摄像头小车的仿真

(1)启动仿真环境

roslaunch mbot_gazebo view_mbot_with_kinect_gazebo.launch

(2)用rviz查看点云

rosrun rviz rviz

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4、带有雷达小车的仿真

(1)启动仿真环境

roslaunch mbot_gazebo view_mbot_with_laser_gazebo.launch

(2)用rviz查看点云图像

rosrun rviz rviz

室内导航(ubuntu16.04)

二、SLAM建图

首先需要安装gampping环境

sudo apt-get install ros-kinetic-gmapping

1. 激光雷达建图(gmapping)

(1)启动雷达仿真环境

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

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(2)启动gmapping建图的rviz界面

 roslaunch mbot_navigation gmapping_demo.launch

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(3)启动键盘控制

roslaunch mbot_teleop mbot_teleop.launch

(4) 保存地图

rosrun map_server map_server -f cloister_gmapping

2. Kinect建图(gmapping)

(1)启动Kinect仿真环境

roslaunch mbot_gazebo mbot_kinect_nav_gazebo.launch

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(2)启动gampping的rviz界面

roslaunch mbot_navigation gmapping_demo.launch

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(3)启动键盘控制节点

roslaunch mbot_teleop mbot_teleop.launch

三、路径规划

首先安装运行环境

sudo apt-get install ros-kinetic-map-server  ros-kinetic-move-base ros-kinetic-amcl

1. 启动环境仿真

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

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2. 启动导航节点

roslaunch mbot_navigation nav_cloister_demo.launch

室内导航(ubuntu16.04)

可以通过2D Pose Estimate来调整机器人的初识位姿

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可以通过2D Nav Goal来选择目标位置

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路径规划过程

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可以在gazebo的insert中添加新的障碍物来进行实时导航

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四、SLAM+路径规划

1. 启动仿真环境

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

启动SLAM的探索文件,可以点击2D Nav Goal来边建图边导航

 roslaunch mbot_navigation exploring_slam_demo.launch

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自动建图

rosrun mbot_navigation exploring_slam.py

注意:运行时需要将catkin_ws/src/mbot_navigation/srcipts里面的exploring_slam.py执行权限进行更改

本文地址:https://blog.csdn.net/qq_40817117/article/details/108572188

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