#### start gmapping >>>>>>>>####<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="map_udpate_interval" value="1.0"/>
<param name="maxUrange" value="5.0"/>
<param name="sigma" value="0.1"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.15"/>
<param name="astep" value="0.15"/>
<param name="iterations" value="1"/>
<param name="lsigma" value="0.1"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="1"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.5"/>
<param name="temporalUpdate" value="0.4"/>
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<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="10"/>
<param name="xmin" value="-5.0"/>
<param name="ymin" value="-5.0"/>
<param name="xmax" value="5.0"/>
<param name="ymax" value="5.0"/>
<param name="delta" value="0.02"/>pvc瑜伽垫
<param name="llsamplerange" value="0.01"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.05"/>
<param name="lasamplestep" value="0.05"/>
</node>
</launch>
这⾥要注意:
<param name="/use_sim_time" value="true"/>
跑bag这个标志为true,实物跑这个标志为false
实车效果:
固废焚烧
2.再实现move_base路径规划
move_base的框图如下:
拷贝gmapping建图功能下⾯的功能包,包括雷达驱动、gmapping功能包到src。安装⼩车驱动依赖:
sudo apt install -y libasio-dev
sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
设置CAN-To-USB模块
sudo modprobe gs_usb
第⼀次⽤⼩车驱动包则执⾏:
rosrun scout_bringup setup_can2usb.bash
不是第⼀次则执⾏:
rosrun scout_bringup bringup_can2usb.bash
键盘测试下⼩车运动,没问题则进⾏下⼀步:
github下载move_base包(集成在navigation):
将之前仿真的robot_sim包拷贝到src。
因为⽤laser_scan_matcher功能包⽣成的雷达odom没有数据(不知原因),所以⽤了⼩车⾃带的⾥程计。更改demo_mapping.launch如下:
<!--
Example launch file: uses laser_scan_matcher together with
slam_gmapping
-->
<launch>
#### set up data playback from bag >>>>>####<param name="/use_sim_time" value="flase"/>
<include file="$(find mapping)/launch/pointcloudtoscan.launch" />
#### publish an example base_link -> laser transform >>#<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
args="0.0 0.0 0.0 -1.57 0.0 0.0 /base_link /rslidar 40" />
#### start rviz >>>>>>>>>###gammaproteobacteria
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find mapping)/config/demo_gmapping.rviz"/>
<include file="$(find scout_bringup)/launch/scout_mini_robot_base.launch" />
#### start gmapping >>>>>>>>####
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen"> <param name="base_frame" value="/base_link"/>
<param name="odom_frame" value="/odom" />
<param name="map_frame" value="/map" />
金属活接<param name="map_udpate_interval" value="1.0"/>
<param name="maxUrange" value="5.0"/>
<param name="sigma" value="0.1"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.15"/>
<param name="astep" value="0.15"/>
<param name="iterations" value="1"/>
<param name="lsigma" value="0.1"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="1"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.5"/>
<param name="temporalUpdate" value="0.4"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="10"/>
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<param name="xmin" value="-5.0"/>
<param name="ymin" value="-5.0"/>
<param name="xmax" value="5.0"/>
<param name="ymax" value="5.0"/>
<param name="delta" value="0.02"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.05"/>
<param name="lasamplestep" value="0.05"/>
</node>
</launch>
这⾥要注意: