Gazebo-Ros搭建小车和场景并运行slam算法进行建图4--为机器人添加运动控制器控制其移动
Gazebo-Ros搭建小车和场景并运行slam算法进行建图4–为机器人添加运动控制器控制其移动
1.要想机器人小车在gazebo中运动还需要为其添加运动插件
在文章3中的my_robot2.urdf 最下边（前边）添加如下部分：
这里使用的二轮差速控制，选择对应的插件libgazebo_ros_diff_drive.so
Debug
false
1
false
100.0
left_wheel_joint
right_wheel_joint
0.4
0.12
1.8
cmd_vel
odom
base_footprint
odom
1
/my_robot
其中
0.4 这个是轮距
0.12 这个是轮子直径，根据机器人模型的实际参数设置
添加上述部分，文章3中的my_robot2.urdf 更新为 --完整代码如下：
Gazebo/Orange
Gazebo/Black
30.0
1.3962634
800
800
R8G8B8
0.02
300
gaussian
0.0
0.007
true
0.0
rrbot/camera1
image_raw
camera_info
camera_link
0.07
0.0
0.0
0.0
0.0
0.0
Gazebo/Black
0 0 0 0 0 0
false
40
720
1
-1.570796
1.570796
0.10
30.0
0.01
gaussian
0.0
0.01
/scan
laser_link
true
true
100
true
__default_topic__
imu
imu_link
10.0
0.0
0 0 0
0 0 0
imu_link
false
0 0 0 0 0 0
Debug
false
1
false
100.0
left_wheel_joint
right_wheel_joint
0.4
0.12
1.8
cmd_vel
odom
base_footprint
odom
1
/my_robot
2.使用turtlebot3中的控制机器人的文件
2.1在src目录下创建teleop_robot功能包，并添加依赖rospy geometry_msgs
$ cd ~/Documents/test_ws/src
$ catkin_create_pkg teleop_robot rospy geometry_msgs
2.2 在teleop_robot/src文件夹下创建文件teleop_robot_key.py
$ cd src/teleop_robot/src/
$ gedit teleop_robot_key
输入以下内容：
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
import sys, select, os
if os.name == 'nt':
import msvcrt, time
else:
import tty, termios
BURGER_MAX_LIN_VEL = 0.32
BURGER_MAX_ANG_VEL = 2.84
WAFFLE_MAX_LIN_VEL = 0.26
WAFFLE_MAX_ANG_VEL = 1.82
LIN_VEL_STEP_SIZE = 0.01
ANG_VEL_STEP_SIZE = 0.1
msg = """
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity (Burger : ~ 0.32, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit
"""
e = """
Communications Failed
"""
def getKey():
if os.name == 'nt':
timeout = 0.1
startTime = time.time()
while(1):
if msvcrt.kbhit():
if sys.version_info[0] >= 3:
return msvcrt.getch().decode()
else:
return msvcrt.getch()
elif time.time() - startTime > timeout:
return ''
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
def vels(target_linear_vel, target_angular_vel):
return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel)
def makeSimpleProfile(output, input, slop):
if input > output:
output = min( input, output + slop )
elif input < output:
output = max( input, output - slop )
else:
output = input
return output
def constrain(input, low, high):
if input < low:
input = low
elif input > high:
input = high
else:
input = input
return input
def checkLinearLimitVelocity(vel):
if turtlebot3_model == "burger":
vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)
elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi":
vel = constrain(vel, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)
else:
vel = constrain(vel, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)
return vel
def checkAngularLimitVelocity(vel):
if turtlebot3_model == "burger":
vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)
elif turtlebot3_model == "waffle" or turtlebot3_model == "waffle_pi":
vel = constrain(vel, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)
else:
vel = constrain(vel, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)
return vel
if __name__=="__main__":
if os.name != 'nt':
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('turtlebot3_teleop')
pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
turtlebot3_model = rospy.get_param("model", "burger")
status = 0
target_linear_vel = 0.0
target_angular_vel = 0.0
control_linear_vel = 0.0
control_angular_vel = 0.0
try:
print(msg)
while not rospy.is_shutdown():
key = getKey()
if key == 'w' :
target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE)
status = status + 1
print(vels(target_linear_vel,target_angular_vel))
elif key == 'x' :
target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE)
status = status + 1
print(vels(target_linear_vel,target_angular_vel))
elif key == 'a' :
target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE)
status = status + 1
print(vels(target_linear_vel,target_angular_vel))
elif key == 'd' :
target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE)
status = status + 1
print(vels(target_linear_vel,target_angular_vel))
elif key == ' ' or key == 's' :
target_linear_vel = 0.0
control_linear_vel = 0.0
target_angular_vel = 0.0
control_angular_vel = 0.0
print(vels(target_linear_vel, target_angular_vel))
else:
if (key == '\x03'):
break
if status == 20 :
print(msg)
status = 0
twist = Twist()
control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0))
twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0
control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0))
twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel
pub.publish(twist)
except:
print(e)
finally:
twist = Twist()
twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0
twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0
pub.publish(twist)
if os.name != 'nt':
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
3.进入工作空间根目录进行编译
$ cd ~/Documents/test_ws
$ catkin_make
$ source devel/setup.bash
$ rospack find teleop_robot (编译好的话可以找到这个功能包的所在路径)
4.开启三个终端测试控制效果
进入终端进入到~/Documents/test_ws后需要执行一下
$ source devel/setup.bash
然后分别在三个终端运行以下三个命令：
1.打开gazebo
$ roslaunch myrobot_description test.launch
2.打开rviz
$ roslaunch myrobot_description display_my_robot.launch
3.运行控制节点，根据提示可以改变线速度和角速度让机器人动起来
$ rosrun teleop_robot teleop_robot_key
5.接下来就是运行slam算法了
主要就是slam算法订阅的传感器主题要和机器人发布的传感器一致，这里是/scan，还有坐标系，这里雷达的坐标系是 laser_link .