接上文我们继续
如果我们要在仿真环境中进行测试,需要将摄像头配置成功。
sudo vim /opt/ros/foxy/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
camera_rgb_frame
camera_rgb_optical_frame
0 0 0 -1.57079632679 0 -1.57079632679
0 0 1
重命名 为
增加
修改 为
修改 image width/height from 1920x1080 to 640x480
修改 min scan range from 0.12 to 0.2
可以在vim里面使用
例如:
:/min
进行查找
如果不想动手,可以直接粘贴我的:
0.0 0.0 0.0 0.0 0.0 0.0
-0.064 0 0.048 0 0 0
4.2111447e-02
0
0
4.2111447e-02
0
7.5254874e-02
1.3729096e+00
-0.064 0 0.048 0 0 0
0.265 0.265 0.089
-0.064 0 0 0 0 0
model://turtlebot3_waffle/meshes/waffle_base.dae
0.001 0.001 0.001
true
200
0.0
2e-4
0.0
2e-4
0.0
2e-4
0.0
1.7e-2
0.0
1.7e-2
0.0
1.7e-2
~/out:=imu
-0.052 0 0.111 0 0 0
0.001
0.000
0.000
0.001
0.000
0.001
0.114
-0.052 0 0.111 0 0 0
0.0508
0.055
-0.064 0 0.121 0 0 0
model://turtlebot3_waffle/meshes/lds.dae
0.001 0.001 0.001
true
true
-0.064 0 0.121 0 0 0
5
360
1.000000
0.000000
6.280000
0.20000
3.5
0.015000
gaussian
0.0
0.01
~/out:=scan
sensor_msgs/LaserScan
base_scan
0.0 0.144 0.023 -1.57 0 0
1.1175580e-05
-4.2369783e-11
-5.9381719e-09
1.1192413e-05
-1.4400107e-11
2.0712558e-05
0.1
0.0 0.144 0.023 -1.57 0 0
0.033
0.018
100000.0
100000.0
0 0 0
0.0
0.0
0
0.2
1e+5
1
0.01
0.001
0.0 0.144 0.023 0 0 0
model://turtlebot3_waffle/meshes/tire.dae
0.001 0.001 0.001
0.0 -0.144 0.023 -1.57 0 0
1.1175580e-05
-4.2369783e-11
-5.9381719e-09
1.1192413e-05
-1.4400107e-11
2.0712558e-05
0.1
0.0 -0.144 0.023 -1.57 0 0
0.033
0.018
100000.0
100000.0
0 0 0
0.0
0.0
0
0.2
1e+5
1
0.01
0.001
0.0 -0.144 0.023 0 0 0
model://turtlebot3_waffle/meshes/tire.dae
0.001 0.001 0.001
-0.177 -0.064 -0.004 -1.57 0 0
0.001
0.00001
0.000
0.000
0.00001
0.000
0.00001
0.005000
0
0.2
1e+5
1
0.01
0.001
-0.177 0.064 -0.004 -1.57 0 0
0.001
0.00001
0.000
0.000
0.00001
0.000
0.00001
0.005000
0
0.2
1e+5
1
0.01
0.001
0.069 -0.047 0.107 0 0 0
0.001
0.000
0.000
0.001
0.000
0.001
0.035
0.069 -0.047 0.107 0 0 0
true
true
30
1.02974
640
480
R8G8B8
0.02
300
gaussian
0.0
0.007
base_footprint
base_link
0.0 0.0 0.010 0 0 0
base_link
wheel_left_link
0.0 0.144 0.023 -1.57 0 0
0 0 1
base_link
wheel_right_link
0.0 -0.144 0.023 -1.57 0 0
0 0 1
base_link
caster_back_right_link
base_link
caster_back_left_link
base_link
imu_link
-0.032 0 0.068 0 0 0
0 0 1
base_link
base_scan
-0.064 0 0.121 0 0 0
0 0 1
base_link
camera_link
0.064 -0.065 0.094 0 0 0
0 0 1
camera_rgb_frame
camera_rgb_optical_frame
0 0 0 -1.57079632679 0 -1.57079632679
0 0 1
camera_link
camera_rgb_frame
0.005 0.018 0.013 0 0 0
0 0 1
30
wheel_left_joint
wheel_right_joint
0.287
0.066
20
1.0
cmd_vel
true
true
false
odom
odom
base_footprint
~/out:=joint_states
30
wheel_left_joint
wheel_right_joint
ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py
#启动导航
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
ros2 launch nav2_bringup rviz_launch.py
但是唯一不幸的是rviz一直崩掉!