ROS使用gmapping以及hector进行slam建图
1>启动已有的机器人仿真环境。
roslaunch mbot_gazebo view_mbot_with_laser_gazebo_suyunzzz_world.launch该launch文件如下
相对于机器人建模的那个文件更换了一个地图，该地图是自己绘制保存下来的。
2>启动建图节点(gmapping、hector)以及rviz
roslaunch wheel_chair_navigation gmapping_demo.launch
(roslaunch wheel_chair_navigation hector_demo.launch)以gmapping为例，launch文件如下所示
其中，gmappiing.launch如下：
gmapping.rviz配置如下：
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1/Links1/base_footprint1
- /Map1/Position1
Splitter Ratio: 0.652661026
Tree Height: 661
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.428570986
- 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: 0.5
Class: rviz/Grid
Color: 88; 88; 90
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 80
Reference Frame: map
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry EKF
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
- 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
back_caster_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_caster_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
kinect_frame_optical:
Alpha: 1
Show Axes: false
Show Trail: false
kinect_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
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: 0.5
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.30399999
Min Value: 0.30399999
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 0; 0
Color Transformer: FlatColor
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): 0.100000001
Style: Spheres
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 17.4334984
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.491072416
Y: -4.53872395
Z: 4.76837158e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.47479641
Target Frame:
Value: XYOrbit (rviz)
Yaw: 4.70039797
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 874
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000324fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000198000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000324000000d700ffffff000000010000010f00000324fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000324000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003de0000032400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1358
X: 2435
Y: 113 3>启动键盘控制节点
rosrun mbot_teleop mbot_teleop.py该脚本文件如下：
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
msg = """
Control mbot!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
"""
moveBindings = {
'i':(1,0),
'o':(1,-1),
'j':(0,1),
'l':(0,-1),
'u':(1,1),
',':(-1,0),
'.':(-1,1),
'm':(-1,-1),
}
speedBindings={
'q':(1.1,1.1),
'z':(.9,.9),
'w':(1.1,1),
'x':(.9,1),
'e':(1,1.1),
'c':(1,.9),
}
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speed = .2
turn = 1
def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('mbot_teleop')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
x = 0
th = 0
status = 0
count = 0
acc = 0.1
target_speed = 0
target_turn = 0
control_speed = 0
control_turn = 0
try:
print msg
print vels(speed,turn)
while(1):
key = getKey()
# 运动控制方向键（1：正方向，-1负方向）
if key in moveBindings.keys():
x = moveBindings[key][0]
th = moveBindings[key][1]
count = 0
# 速度修改键
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0] # 线速度增加0.1倍
turn = turn * speedBindings[key][1] # 角速度增加0.1倍
count = 0
print vels(speed,turn)
if (status == 14):
print msg
status = (status + 1) % 15
# 停止键
elif key == ' ' or key == 'k' :
x = 0
th = 0
control_speed = 0
control_turn = 0
else:
count = count + 1
if count > 4:
x = 0
th = 0
if (key == '\x03'):
break
# 目标速度=速度值*方向值
target_speed = speed * x
target_turn = turn * th
# 速度限位，防止速度增减过快
if target_speed > control_speed:
control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed:
control_speed = max( target_speed, control_speed - 0.02 )
else:
control_speed = target_speed
if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 0.1 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 0.1 )
else:
control_turn = target_turn
# 创建并发布twist消息
twist = Twist()
twist.linear.x = control_speed;
twist.linear.y = 0;
twist.linear.z = 0
twist.angular.x = 0;
twist.angular.y = 0;
twist.angular.z = control_turn
pub.publish(twist)
except:
print e
finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)建图完成之后在想要保存地图的目录下使用
rosrun map_server map_saver -f 即可保存地图。