这个博客是之前三个move_base, gmapping和amcl的一个综合应用,如果前面三个关于pioneer3at的教程小伙伴们也都能够实现的话,这个实验应该也就不会太困难了,毕竟,万事开头难嘛…LZ可能还在头上O(∩_∩)O哈哈~

这个需要一个python的代码,在felaim_2dnav新建一个文件夹nodes,里面添加一个Python的脚本,nav_test.py

#!/usr/bin/env python #因为有中文啦,要加这一句,不然会报错,不想添加也可以把中文注释去掉就行了 # coding=utf-8 #导入对应的依赖项 import rospy import actionlib from actionlib_msgs.msg import * from geometry_msgs.msg import Pose, PoseWithCovarianceStamped, Point, Quaternion, Twist from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from random import sample from math import pow, sqrt class NavTest(): def __init__(self): rospy.init_node('nav_test', anonymous=True) rospy.on_shutdown(self.shutdown) # How long in seconds should the robot pause at each location? #设置在每一个目标位置向下一个目标位置移动前需要暂停的秒数 #如果fake_test参数的值为true,那么rest_time参数会被忽略 self.rest_time = rospy.get_param("~rest_time", 10) # Are we running in the fake simulator? self.fake_test = rospy.get_param("~fake_test", False) # Goal state return values #可以用人类可读形式的MovaBaseAction目标状态很好的 goal_states = ['PENDING', 'ACTIVE', 'PREEMPTED', 'SUCCEEDED', 'ABORTED', 'REJECTED', 'PREEMPTING', 'RECALLING', 'RECALLED', 'LOST'] # Set up the goal locations. Poses are defined in the map frame. # An easy way to find the pose coordinates is to point-and-click # Nav Goals in RViz when running in the simulator. # Pose coordinates are then displayed in the terminal # that was used to launch RViz. locations = dict() #这个是LZ通过gmapping建图后,在rviz上确定的三个目标位置 locations['teacher_office'] = Pose(Point(-7.755, -21.776, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000)) locations['elevator'] = Pose(Point(3.669, -23.923, 0.000), Quaternion(0.000, 0.000, 0.000, 1.000)) locations['student_office'] = Pose(Point(2.932, -15.759, 0.000), Quaternion(0.000, 0.000, -0.563, 0.826)) # Publisher to manually control the robot (e.g. to stop it, queue_size=5) self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5) # Subscribe to the move_base action server self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction) rospy.loginfo("Waiting for move_base action server...") # Wait 60 seconds for the action server to become available self.move_base.wait_for_server(rospy.Duration(60)) rospy.loginfo("Connected to move base server") # A variable to hold the initial pose of the robot to be set by # the user in RViz initial_pose = PoseWithCovarianceStamped() # Variables to keep track of success rate, running time, # and distance traveled n_locations = len(locations) n_goals = 0 n_successes = 0 i = n_locations distance_traveled = 0 start_time = rospy.Time.now() running_time = 0 location = "" last_location = "" # Get the initial pose from the user rospy.loginfo("*** Click the 2D Pose Estimate button in RViz to set the robot's initial pose...") rospy.wait_for_message('initialpose', PoseWithCovarianceStamped) self.last_location = Pose() rospy.Subscriber('initialpose', PoseWithCovarianceStamped, self.update_initial_pose) # Make sure we have the initial pose while initial_pose.header.stamp == "": rospy.sleep(1) rospy.loginfo("Starting navigation test") # Begin the main loop and run through a sequence of locations #测试一直运行直到用户终止这个应用 while not rospy.is_shutdown(): # If we've gone through the current sequence, # start with a new random sequence if i == n_locations: i = 0 #用sample()函数从目标位置集合中生成随机的位置序列 sequence = sample(locations, n_locations) # Skip over first location if it is the same as # the last location if sequence[0] == last_location: i = 1 # Get the next location in the current sequence location = sequence[i] # Keep track of the distance traveled. # Use updated initial pose if available. if initial_pose.header.stamp == "": distance = sqrt(pow(locations[location].position.x - locations[last_location].position.x, 2) + pow(locations[location].position.y - locations[last_location].position.y, 2)) else: rospy.loginfo("Updating current pose.") distance = sqrt(pow(locations[location].position.x - initial_pose.pose.pose.position.x, 2) + pow(locations[location].position.y - initial_pose.pose.pose.position.y, 2)) initial_pose.header.stamp = "" # Store the last location for distance calculations last_location = location # Increment the counters i += 1 n_goals += 1 # Set up the next goal location # 设置机器人从一个位置到另一个位置,并发送它到move_base行为服务器 self.goal = MoveBaseGoal() self.goal.target_pose.pose = locations[location] self.goal.target_pose.header.frame_id = 'map' self.goal.target_pose.header.stamp = rospy.Time.now() # Let the user know where the robot is going next rospy.loginfo("Going to: " + str(location)) # Start the robot toward the next location self.move_base.send_goal(self.goal) # Allow 5 minutes to get there finished_within_time = self.move_base.wait_for_result(rospy.Duration(300)) # Check for success or failure if not finished_within_time: self.move_base.cancel_goal() rospy.loginfo("Timed out achieving goal") else: state = self.move_base.get_state() if state == GoalStatus.SUCCEEDED: rospy.loginfo("Goal succeeded!") n_successes += 1 distance_traveled += distance rospy.loginfo("State:" + str(state)) else: rospy.loginfo("Goal failed with error code: " + str(goal_states[state])) # How long have we been running? running_time = rospy.Time.now() - start_time running_time = running_time.secs / 60.0 # Print a summary success/failure, distance traveled and time elapsed rospy.loginfo("Success so far: " + str(n_successes) + "/" + str(n_goals) + " = " + str(100 * n_successes/n_goals) + "%") rospy.loginfo("Running time: " + str(trunc(running_time, 1)) + " min Distance: " + str(trunc(distance_traveled, 1)) + " m") rospy.sleep(self.rest_time) def update_initial_pose(self, initial_pose): self.initial_pose = initial_pose def shutdown(self): rospy.loginfo("Stopping the robot...") self.move_base.cancel_goal() rospy.sleep(2) self.cmd_vel_pub.publish(Twist()) rospy.sleep(1) def trunc(f, n): # Truncates/pads a float f to n decimal places without rounding slen = len('%.*f' % (n, f)) return float(str(f)[:slen]) if __name__ == '__main__': try: NavTest() rospy.spin() except rospy.ROSInterruptException: rospy.loginfo("AMCL navigation test finished.")

开始在终端中运行对应的节点
第一步:

roscore

第二步:

//连接自己的机器人 roslaunch felaim_2dnav felaim_robot.launch

第三步:

//连接kinect roslaunch felaim_2dnav pioneer3at_fake_laser_freenect.launch

第四步:

roslaunch felaim_2dnav tb_nav_test.launch

第五步:

rosrun rviz rviz -d `rospack find felaim_2dnav`/launch/nav_test.rviz

第六步

//监听数据 rqt_console &

tb_nav_test.launch

<launch> <param name="use_sim_time" value="false" /> <!-- EDIT THIS LINE TO REFLECT THE NAME OF YOUR OWN MAP FILE Can also be overridden on the command line --> <arg name="map" default="my_map.yaml" /> <!-- Run the map server with the desired map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find felaim_2dnav)/maps/$(arg map)"/> <!-- Start the move_base node with the nav_test parameters --> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true"> <rosparam file="$(find felaim_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find felaim_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find felaim_2dnav)/config/local_costmap_params.yaml" command="load" /> <rosparam file="$(find felaim_2dnav)/config/global_costmap_params.yaml" command="load" /> <rosparam file="$(find felaim_2dnav)/config/base_local_planner_params.yaml" command="load" /> <rosparam file="$(find felaim_2dnav)/config/nav_test_params.yaml" command="load" /> </node> <!-- Fire up AMCL --> <include file="$(find felaim_2dnav)/launch/tb_amcl.launch" /> <!-- Start the navigation test --> <node pkg="felaim_2dnav" type="nav_test.py" name="nav_test" output="screen"> <param name="rest_time" value="10" /> <param name="fake_test" value="false" /> </node> </launch>

上图是终端打出的INFO,可以看出两次success的信息,目标位置也是在之前python文件中定义是位置列表.但LZ发现还是会有一些问题,如果障碍物不在地图上,那机器人就会有些迷糊…路径规划有时候会出地图…但是基本的功能是可以实现的,加上最近下雨,走廊里全是雨伞,跑的结果就是一般_(≧▽≦)/啦啦啦,后续还得考虑下怎么进行修改^_