博客地址：https://www.cnblogs.com/zylyehuo/

基于[移動(dòng)機(jī)器人運(yùn)動(dòng)規(guī)劃及運(yùn)動(dòng)仿真]，詳見之前的博客

移動(dòng)機(jī)器人運(yùn)動(dòng)規(guī)劃及運(yùn)動(dòng)仿真 - zylyehuo - 博客園

參考鏈接

Autolabor-ROS機(jī)器人入門課程《ROS理論與實(shí)踐》

環(huán)境配置

ubuntu 18.04文章來源地址http://www.zghlxwxcb.cn/news/detail-450770.html

成果圖

step1: 編寫 launch 文件

mycar_ws/src/nav_demo/launch/nav01_slam_plus.launch

<launch>
    <!-- 仿真環(huán)境下，將該參數(shù)設(shè)置為true  -->
    <param name="use_sim_time" value="true"/>
    <!-- gmapping  -->
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
      <!-- 設(shè)置雷達(dá)話題  -->
      <remap from="scan" to="scan"/>

      <!-- 關(guān)鍵參數(shù)：坐標(biāo)系 -->
      <param name="base_frame" value="base_footprint"/><!--底盤坐標(biāo)系-->
      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/> <!--里程計(jì)坐標(biāo)系-->

      <param name="map_update_interval" value="5.0"/>
      <param name="maxUrange" value="16.0"/>
      <param name="sigma" value="0.05"/>
      <param name="kernelSize" value="1"/>
      <param name="lstep" value="0.05"/>
      <param name="astep" value="0.05"/>
      <param name="iterations" value="5"/>
      <param name="lsigma" value="0.075"/>
      <param name="ogain" value="3.0"/>
      <param name="lskip" value="0"/>
      <param name="srr" value="0.1"/>
      <param name="srt" value="0.2"/>
      <param name="str" value="0.1"/>
      <param name="stt" value="0.2"/>
      <param name="linearUpdate" value="1.0"/>
      <param name="angularUpdate" value="0.5"/>
      <param name="temporalUpdate" value="3.0"/>
      <param name="resampleThreshold" value="0.5"/>
      <param name="particles" value="30"/>
      <param name="xmin" value="-50.0"/>
      <param name="ymin" value="-50.0"/>
      <param name="xmax" value="50.0"/>
      <param name="ymax" value="50.0"/>
      <param name="delta" value="0.05"/>
      <param name="llsamplerange" value="0.01"/>
      <param name="llsamplestep" value="0.01"/>
      <param name="lasamplerange" value="0.005"/>
      <param name="lasamplestep" value="0.005"/>
      
    </node>

    <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />
    <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" />

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find nav_demo)/config/nav_test.rviz"/>
    
</launch>

mycar_ws/src/nav_demo/launch/nav07_slam_auto.launch

<!-- 集成SLAM與導(dǎo)航，實(shí)現(xiàn)機(jī)器人自主移動(dòng)的地圖 -->
<launch>

    <!-- 啟動(dòng)SLAM節(jié)點(diǎn) -->
    <include file="$(find nav_demo)/launch/nav01_slam_plus.launch" />
    
    <!-- 運(yùn)行move_base節(jié)點(diǎn) -->
    <include file="$(find nav_demo)/launch/nav05_path.launch" />

</launch>

step2: 編譯+啟動(dòng) gazebo 仿真環(huán)境

source ./devel/setup.bash 

roslaunch mycar environment.launch

step3: 編譯+啟動(dòng) rviz

source ./devel/setup.bash 

roslaunch nav_demo nav07_slam_auto.launch

step4: 配置 rviz

step5: 運(yùn)行測試

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