基于Ubuntu16.04 ros Kinect
rostopic pub -r 10 /odom nav_msgs/Odometry '{pose: {pose: {position: {x: 0, y: 0, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 0}}}, twist: {twist: {linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}}}'
启动激光雷达驱动节点,本文使用的是杉川的delta-2A激光雷达,价格比较便宜,将其配套的ros功能包安装好在自己的工作空间,输入一下命令启动激光雷达驱动节点即可:
sudo chmod 777 /dev/ttyUSB0 && rosrun delta_lidar delta_lidar_node
为了使gmapping能够知道odom、map、base_link之间的关系,需要发布相应的tf,且本文为了简化认为激光雷达安装在base_link坐标系原点,无需转换;
各个坐标系原点含义:
1、base_link:机器人位置、激光雷达位置
2、odom:里程计安装位置
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}'
void VelCallback(const geometry_msgs::TwistPtr& vel)
{
// linear change
x = x+vel->linear.x;
y = y+vel->linear.y;
z = z+vel->linear.z;
// angular change
roll = roll+vel->angular.x/pi*180;
pit = pit+vel->angular.y/pi*180;
yaw = yaw+vel->angular.z/pi*180;
// transform between odom and base_link
tf::Transform trans;
trans.setOrigin(tf::Vector3(x,y,z));
tf::Quaternion q;
q.setRPY(roll,pit,yaw);
trans.setRotation(q);
//send transform map --- parent frame , base_link --- child frame
tfbrd_.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"map","base_link")); //base_link
rate.sleep();
}
launch启动文件参考书籍资料:《ROS机器人开发实践》,感兴趣的可以去GitHub下载:
git clone https://github.com/huchunxu/ros_exploring.git
roslaunch mrobot_navigation gmapping_demo.launch
rosrun map_server map_saver -f /home/kiltto/develop/mapSave/xxx
rosrun map_server map_server /home/kiltto/develop/mapSave/xxx.yaml