yocs_velocity_smoother速度平滑配置与使用

简介

yocs_velocity_smoother速度平滑（滤波）是将base_move导航输出的/raw_cmd_vel速度进行平滑处理，得到/cmd_vel速度进行控 制机器人底盘运动。这里选用里程计/odom作为速度平滑的参考。

安装

sudo apt-get install ros-melodic-yocs-velocity-smoother

配置文件

##参数文件配置standalone.yaml

# Example configuration:
# - velocity limits are around a 10% above the physical limits
# - acceleration limits are just low enough to avoid jerking

# Mandatory parameters
speed_lim_v: 0.8
speed_lim_w: 5.4

accel_lim_v: 0.3
accel_lim_w: 3.5

# Optional parameters
frequency: 20.0
decel_factor: 1.0

# Robot velocity feedback type:
#  0 - none
#  1 - odometry
#  2 - end robot commands
robot_feedback: 2

详细参数参考：https://blog.csdn.net/Forrest_Z/article/details/64444139

##启动文件配置standalone.launch

<launch>
  <arg name="node_name"             value="velocity_smoother"/>
  <arg name="nodelet_manager_name"  value="nodelet_manager"/>
  <arg name="config_file"           value="$(find nav_demo)/param/standalone.yaml"/>//配置文件位置
  <arg name="raw_cmd_vel_topic"     value="raw_cmd_vel"/>//输入的速度
  <arg name="smooth_cmd_vel_topic"  value="cmd_vel"/>//输出的速度
  <arg name="robot_cmd_vel_topic"   value="robot_cmd_vel"/>
  <arg name="odom_topic"            value="odom"/>
  
  
  <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
  
  
  <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
    <arg name="node_name"             value="$(arg node_name)"/>
    <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>
    <arg name="config_file"           value="$(arg config_file)"/>
    <arg name="raw_cmd_vel_topic"     value="$(arg raw_cmd_vel_topic)"/>
    <arg name="smooth_cmd_vel_topic"  value="$(arg smooth_cmd_vel_topic)"/>
    <arg name="robot_cmd_vel_topic"   value="$(arg robot_cmd_vel_topic)"/>
    <arg name="odom_topic"            value="$(arg odom_topic)"/>
  include>
launch>

launch需要改动的地方:
//配置文件位置
//输入的速度
//输出的速度

运行结果

参考

链接: https://github.com/yujinrobot/yujin_ocs.git（branch：melodic）.