百川网站维护,photoshop免费版,免费建小程序网站,网络服务商的责任前置依赖
先看下亚博官网的介绍 Gmapping简介 gmapping只适用于单帧二维激光点数小于1440的点#xff0c;如果单帧激光点数大于1440#xff0c;那么就会出【[mapping-4] process has died】 这样的问题。 Gmapping是基于滤波SLAM框架的常用开源SLAM算法。 Gmapping基于RBp…前置依赖
先看下亚博官网的介绍 Gmapping简介 gmapping只适用于单帧二维激光点数小于1440的点如果单帧激光点数大于1440那么就会出【[mapping-4] process has died】 这样的问题。 Gmapping是基于滤波SLAM框架的常用开源SLAM算法。 Gmapping基于RBpf粒子滤波算法即时定位和建图过程分离先进行定位再进行建图。 Gmapping在RBpf算法上做了两个主要的改进改进提议分布和选择性重采样。 优点Gmapping可以实时构建室内地图在构建小场景地图所需的计算量较小且精度较高。 缺点随着场景增大所需的粒子增加因为每个粒子都携带一幅地图因此在构建大地图时所需内存和计算量都会增加。因此不适合构建大场景地图。并且没有回环检测因此在回环闭合时可能会造成地图错位虽然增加粒子数目可以使地图闭合但是以增加计算量和内存为代价。 底层转换
ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py #底层数据程序
参见https://blog.csdn.net/bohu83/article/details/145394204
ros2 launch yahboomcar_nav map_gmapping_launch.py #建图节点
from launch import LaunchDescription
from launch_ros.actions import Node
import os
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directorydef generate_launch_description():slam_gmapping_launch IncludeLaunchDescription(PythonLaunchDescriptionSource([os.path.join(get_package_share_directory(slam_gmapping), launch),/slam_gmapping.launch.py]))base_link_to_laser_tf_node Node(packagetf2_ros,executablestatic_transform_publisher,namebase_link_to_base_laser,arguments[-0.0046412, 0 , 0.094079,0,0,0,base_link,laser_frame])return LaunchDescription([slam_gmapping_launch,base_link_to_laser_tf_node])
这里启动了一个launch文件-slam_gmapping_launch和一个发布静态变换的节点-base_link_to_laser_tf_node。
从代码上看依赖了slam_gmapping.
slam_gammping 可以从网上找个资料大概了解下也可以看官网文档gmapping - ROS Wiki 从文档大概看就是订阅话题/scan 激光雷达数据、tf 坐标变换发布了话题:map_metadata、map\~entropy 服务dynamic_map 获取地图数据
launch还是要引用代码所以apt-install 办法不适合,需要找源码编译安装。
https://github.com/ros-perception/slam_gmapping
找了这个地址试了下编译安装。
CMake Error at CMakeLists.txt:5 (find_package):By not providing Findcatkin.cmake in CMAKE_MODULE_PATH this project hasasked CMake to find a package configuration file provided by catkin, butCMake did not find one.Could not find a package configuration file provided by catkin with anyof the following names:catkinConfig.cmakecatkin-config.cmakeAdd the installation prefix of catkin to CMAKE_PREFIX_PATH or setcatkin_DIR to a directory containing one of the above files. If catkinprovides a separate development package or SDK, be sure it has beeninstalled.
我的测试环境是ubuntu 22 ros2 humble.系统缺少 catkin 这个包.
因为在ros2 中catkin 已经被ament取代如何用ros2 中colcon build 编译 ros中 catkin的功能包
需要修改源码和cmakelists把catkin相关的更换成ament我看了下比较麻烦直接使用了亚博官方的代码。工程结构如下所示就是指定了启动脚本:src/slam_gmapping/launch/slam_gmapping.launch.py跟slam_gmapping.yaml slam_gmapping.launch.py这里启动了slam_gmapping的节点加载了slam_gmapping.yaml参数文件。
slam_gmapping.yaml
/slam_gmapping:ros__parameters:angularUpdate: 0.5astep: 0.05base_frame: base_footprintmap_frame: mapodom_frame: odomdelta: 0.05iterations: 5kernelSize: 1lasamplerange: 0.005lasamplestep: 0.005linearUpdate: 1.0llsamplerange: 0.01llsamplestep: 0.01lsigma: 0.075lskip: 0lstep: 0.05map_update_interval: 5.0maxRange: 6.0maxUrange: 4.0minimum_score: 0.0occ_thresh: 0.25ogain: 3.0particles: 30qos_overrides:/parameter_events:publisher:depth: 1000durability: volatilehistory: keep_allreliability: reliable/tf:publisher:depth: 1000durability: volatilehistory: keep_lastreliability: reliableresampleThreshold: 0.5sigma: 0.05srr: 0.1srt: 0.2str: 0.1stt: 0.2temporalUpdate: 1.0transform_publish_period: 0.05use_sim_time: falsexmax: 10.0xmin: -10.0ymax: 10.0ymin: -10.0运行
启动小车代理 首先启动小车处理底层数据程序
ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py
from ament_index_python.packages import get_package_share_pathfrom launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfigurationfrom launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValuedef generate_launch_description():package_path get_package_share_path(yahboomcar_nav)default_rviz_config_path package_path / rviz/view.rvizrviz_arg DeclareLaunchArgument(namervizconfig, default_valuestr(default_rviz_config_path),descriptionAbsolute path to rviz config file)rviz_node Node(packagerviz2,executablerviz2,namerviz2,outputscreen,arguments[-d, LaunchConfiguration(rvizconfig)],)return LaunchDescription([rviz_arg,rviz_node])bohubohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_bringup yahboomcar_bringup_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-30-14-52-59-130561-bohu-TM1701-316456
[INFO] [launch]: Default logging verbosity is set to INFO
---------------------robot_type x3---------------------
[INFO] [complementary_filter_node-1]: process started with pid [316458]
[INFO] [ekf_node-2]: process started with pid [316460]
[INFO] [static_transform_publisher-3]: process started with pid [316462]
[INFO] [joint_state_publisher-4]: process started with pid [316464]
[INFO] [robot_state_publisher-5]: process started with pid [316466]
[INFO] [static_transform_publisher-6]: process started with pid [316468]
[static_transform_publisher-3] [WARN] [1738219979.422738190] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [WARN] [1738219979.430808316] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1738219979.474861598] [base_link_to_base_imu]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: (-0.002999, -0.003000, 0.031701)
[static_transform_publisher-3] rotation: (0.000000, 0.000000, 0.000000, 1.000000)
[static_transform_publisher-3] from base_link to imu_frame
[static_transform_publisher-6] [INFO] [1738219979.486498703] [static_transform_publisher_dyynkHgPuvMB4QSZ]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: (0.000000, 0.000000, 0.050000)
[static_transform_publisher-6] rotation: (0.000000, 0.000000, 0.000000, 1.000000)
[static_transform_publisher-6] from base_footprint to base_link
[complementary_filter_node-1] [INFO] [1738219979.494221633] [complementary_filter_gain_node]: Starting ComplementaryFilterROS
[robot_state_publisher-5] [WARN] [1738219979.497129656] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-5] [INFO] [1738219979.497311822] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1738219979.497405894] [robot_state_publisher]: got segment imu_Link
[robot_state_publisher-5] [INFO] [1738219979.497427256] [robot_state_publisher]: got segment jq1_Link
[robot_state_publisher-5] [INFO] [1738219979.497440404] [robot_state_publisher]: got segment jq2_Link
[robot_state_publisher-5] [INFO] [1738219979.497453384] [robot_state_publisher]: got segment radar_Link
[robot_state_publisher-5] [INFO] [1738219979.497465220] [robot_state_publisher]: got segment yh_Link
[robot_state_publisher-5] [INFO] [1738219979.497477294] [robot_state_publisher]: got segment yq_Link
[robot_state_publisher-5] [INFO] [1738219979.497489516] [robot_state_publisher]: got segment zh_Link
[robot_state_publisher-5] [INFO] [1738219979.497501480] [robot_state_publisher]: got segment zq_Link
[joint_state_publisher-4] [INFO] [1738219980.049008205] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...然后启动rviz可视化建图终端输入
ros2 launch yahboomcar_nav display_launch.py
此时还没运行建图节点所以没有数据。接下来运行建图节点终端输入
ros2 launch yahboomcar_nav map_gmapping_launch.py
from launch import LaunchDescription
from launch_ros.actions import Node
import os
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directorydef generate_launch_description():slam_gmapping_launch IncludeLaunchDescription(PythonLaunchDescriptionSource([os.path.join(get_package_share_directory(slam_gmapping), launch),/slam_gmapping.launch.py]))base_link_to_laser_tf_node Node(packagetf2_ros,executablestatic_transform_publisher,namebase_link_to_base_laser,arguments[-0.0046412, 0 , 0.094079,0,0,0,base_link,laser_frame])return LaunchDescription([slam_gmapping_launch,base_link_to_laser_tf_node]) #启动键盘控制
ros2 run yahboomcar_ctrl yahboom_keyboard
控制小车慢慢转一圈。最终效果如下
生成的map 建图完毕后输入以下指令保存地图终端输入
ros2 launch yahboomcar_nav save_map_launch.py
from ament_index_python.packages import get_package_share_pathfrom launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfigurationfrom launch_ros.actions import Node
import osdef generate_launch_description():package_share_path str(get_package_share_path(yahboomcar_nav))package_path os.path.abspath(os.path.join(package_share_path, ../../../../src/yahboomcar_nav))map_name yahboom_mapdefault_map_path os.path.join(package_path, maps, map_name)map_arg DeclareLaunchArgument(namemap_path, default_valuestr(default_map_path),descriptionThe path of the map)map_saver_node Node(packagenav2_map_server,executablemap_saver_cli,arguments[-f, LaunchConfiguration(map_path), --ros-args, -p, save_map_timeout:60000.00],)return LaunchDescription([map_arg,map_saver_node])
bohubohu-TM1701:~/yahboomcar/yahboomcar_ws$ ros2 launch yahboomcar_nav save_map_launch.py
[INFO] [launch]: All log files can be found below /home/bohu/.ros/log/2025-01-30-15-33-14-161314-bohu-TM1701-319017
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_saver_cli-1]: process started with pid [319018]
[map_saver_cli-1] [INFO] [1738222394.419546962] [map_saver]:
[map_saver_cli-1] map_saver lifecycle node launched.
[map_saver_cli-1] Waiting on external lifecycle transitions to activate
[map_saver_cli-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_saver_cli-1] [INFO] [1738222394.419654445] [map_saver]: Creating
[map_saver_cli-1] [INFO] [1738222394.419713380] [map_saver]: Configuring
[map_saver_cli-1] [INFO] [1738222394.420777030] [map_saver]: Saving map from map topic to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map file
[map_saver_cli-1] [WARN] [1738222394.420801411] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[map_saver_cli-1] [WARN] [1738222394.420813330] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[map_saver_cli-1] [WARN] [1738222395.293844583] [map_io]: Image format unspecified. Setting it to: pgm
[map_saver_cli-1] [INFO] [1738222395.294086677] [map_io]: Received a 384 X 608 map 0.05 m/pix
[map_saver_cli-1] [INFO] [1738222395.473549155] [map_io]: Writing map occupancy data to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.pgm
[map_saver_cli-1] [INFO] [1738222395.474901659] [map_io]: Writing map metadata to /home/bohu/yahboomcar/yahboomcar_ws/src/yahboomcar_nav/maps/yahboom_map.yaml
[map_saver_cli-1] [INFO] [1738222395.475071124] [map_io]: Map saved
[map_saver_cli-1] [INFO] [1738222395.475082707] [map_saver]: Map saved successfully
[map_saver_cli-1] [INFO] [1738222395.737027994] [map_saver]: Destroying
[INFO] [map_saver_cli-1]: process has finished cleanly [pid 319018]会有两个文件生成一个是yahboom_map.pgm一个是yahboom_map.yaml看下yaml的内容 image: yahboom_map.pgm
mode: trinary
resolution: 0.05
origin: [-10, -10, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25 image表示地图的图片也就是yahboom_map.pgm mode该属性可以是trinary、scale或者raw之一取决于所选择的modetrinary模式是默认模式 resolution地图的分辨率 米/像素 origin地图左下角的 2D 位姿(x,y,yaw), 这里的yaw是逆时针方向旋转的yaw0 表示没有旋转。目前系统中的很多部分会忽略yaw值。 negate是否颠倒 白/黑 、自由/占用 的意义阈值的解释不受影响 occupied_thresh占用概率大于这个阈值的的像素会被认为是完全占用。 free_thresh占用概率小于这个阈值的的像素会被认为是完全自由。 其他的属性
TFtree 节点通讯图 应该是小车第一次运行激光雷达进行建图。
以上
