Rplidar A2与turtlebot进行amcl导航教程

                                             Rplidar A2与turtlebot进行amcl导航教程
我在网上搜寻了很久看到了一些别的小车的导航教程但是turtlebot的却很少，仅有的几个尝试了几个还是发生了很多错误，所以我决定写了一篇这种文章
帮助大家了解如何去操作
1.https://github.com/ncnynl/turtlebot_apps网址下载该包，因为该包中我们需要的文件
2./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch文件进行修改
我的代码如下：

 
 

 
 

 
 
 

 
 
 
 
 
 
   
   
   
 

 
 
 
   
 


3./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes/amcl中加入rplidar_amcl.launch.xml文件
具体代码如下：



















































4./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/launch/includes下添加rplidar_move_base.launch.xml文件
具体代码如下：


 
 
 
 
 
 
 
 
 

 
   
       
       
   
   
   
   
   
    
   
   
   
   
   
   

   
   
   
 

5./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml文件
具体代码如下：#A dummy file loaded when no custom param file is given
6./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param下添加rplidar_costmap_params.yaml.bk文件
具体代码如下：
max_obstacle_height: 2.0  # assume something like an arm is mounted on top of the robot

# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.18  # distance a circular robot should be clear of the obstacle (kobuki: 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]]  # if the robot is not circular

#map_type: voxel

obstacle_layer:
  enabled:              true
  max_obstacle_height:  2.0
  min_obstacle_height:  0.0
  #origin_z:             0.0
  #z_resolution:         0.2
  #z_voxels:             2
  #unknown_threshold:    15
  #mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true    #true needed for disabling global path planning through unknown space
  obstacle_range: 2.0
  raytrace_range: 5.0
  #origin_z: 0.0
  #z_resolution: 0.2
  #z_voxels: 2
  publish_voxel_map: false
  observation_sources:  scan
  scan:
    data_type: LaserScan
    topic: "/scan"
    marking: true
    clearing: true
    expected_update_rate: 0


#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
  enabled:              true
  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
  inflation_radius:     0.25  # max. distance from an obstacle at which costs are incurred for planning paths.

static_layer:
  enabled:              true
  map_topic:            "/map"
7./home/wly/catkin_ws/src/turtlebot_apps/turtlebot_navigation/param添加config文件包
此处文件包从可以从第一步下的文件中找到的.


我这里提到的文件都可以在第一步下载的文件包里找到，如果有具体错误，可以根据输出错误查看是否缺少什么文件，添加进去即可
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