ROS中 Navigation包
ROS Navigation包的理解：https://blog.csdn.net/qq91752728/article/details/79863677
1、costMap
整个代价地图中，我们都会给每一个格子分配一个值，取值为下列几个
255 代表 未知区域
254 代表 障碍物
253 代表 小车会和障碍物冲突
128 代表 小车可能会冲突也可能不会，根据朝向决定
0 – 128 代表 不冲突
2、机器人的里程计信息：
rosmsg show nav_msgs/Odometry
std_msgs/Header header
uint32 seq //消息序列序号
time stamp //时间戳
string frame_id //坐标系
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/Pose pose
geometry_msgs/Point position //XYZ位置信息
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation //以四元素形式描述的姿态位置
float64 x
float64 y
float64 z
float64 w
float64[36] covariance //协方差矩阵，作里程计的位置估算，kf计算的时候会用到
geometry_msgs/TwistWithCovariance twist
geometry_msgs/Twist twist
geometry_msgs/Vector3 linear //线速度信息
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular //角速度信息
float64 x
float64 y
float64 z
float64[36] covariance
3、ROS系统里的坐标系方向：
4、move_base包：
全局路径规划（global planer）
——》使用Dijkstra方法和A*方法。
——》作用：实现全局最优路径规划
本地实时规划（local planer）
——》Trajectory Rollout和Dynamic Window Approaches方法
——》作用：实时避障
5、 查看雷达的采集信息命令：rostopic echo /scan
---
header:
seq: 228 //节点启动后采集雷达数据的序列号
stamp: //时间戳
secs: 1545184554
nsecs: 626462325
frame_id: laser //坐标系
angle_min: -3.12413907051
angle_max: 3.14159274101
angle_increment: 0.0174532923847
time_increment: 3.2735627542e-07
scan_time: 0.00011752089631
range_min: 0.15000000596
range_max: 16.0
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