【嵌入式应用13】ROS智能车定位导航仿真

【嵌入式应用13】ROS智能车定位导航仿真

（原赛道自主导航，构建地图再导航）

1.初始化

mkdir -p ~/zjp/racecar_ws/src
cd zjp/racecar_ws/src
catkin_init_workspace

2.克隆 racecar 源代码包并编译

git clone https://github.com/xmy0916/racecar.git
cd ..

修改racecar_gazebo/CMakeLists.txt的opencv路径为自己的opencv build文件夹路径。

catkin_make

加入环境变量：

3.自己绘制模型

gazebo

绘制如下图：

4.构建world

运行小车模型，加入自己的模型，保存为world。

roslaunch racecar_gazebo racecar.launch 

构建如下图：

保存在racecar_ws/src/racecar_gazebo/worlds：

5.绘制地图

新建myworld.launch

cd racecar/racecar_gazebo/launch
sudo touch myworld.launch

添加以下代码：

<launch>
  
  <include file="$(find racecar_gazebo)/launch/racecar.launch">
    <arg name="world_name" value="zjp"/>
  include>
launch>

roslaunch racecar_gazebo myWorld.launch

roslaunch racecar_gazebo slam_gmapping.launch 

速度不宜过快，小心翻车重来~~~

下面是绘制好地图：

6.保存地图

cd racecar/racecar_gazebo/map
rosrun map_server map_saver -f zjpmap_map

7.自主导航

修改racecar/racecar_gazebo/launch/autocar.launch:

<launch>
  
  <include file="$(find racecar_gazebo)/launch/racecar.launch">
 <arg name="world_name" value="zjp3"/>
  include>
  
  
  <node name="map_server" pkg="map_server" type="map_server" args="$(find racecar_gazebo)/map/mycar_map.yaml" />

  
  <param name="/use_sim_time" value="true"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(find racecar_gazebo)/map/zjpmap_map.yaml" />command="load" ns="global_costmap" />
    <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find racecar_gazebo)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find racecar_gazebo)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find racecar_gazebo)/config/teb_local_planner_params.yaml" command="load" />

    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
    <param name="planner_frequency" value="0.01" />
    <param name="planner_patience" value="5.0" />
    
    
    <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
    <param name="controller_frequency" value="5.0" />
    <param name="controller_patience" value="15.0" />

    <param name="clearing_rotation_allowed" value="false" />
  node>
  
launch>

运行：

roslaunch racecar_gazebo autocar.launch 

roslaunch racecar_gazebo racecar_rviz.launch

开启自主导航：

rosrun racecar_gazebo path_pursuit.py

小车自动行驶到指定位置，实验结束。