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Turtlebot入门教程-激光雷达(neato xv-11)gmapping构建地图

Turtlebot入门教程-激光雷达(neato xv-11)gmapping构建地图

说明

  • 介绍Turtlebot搭载激光雷达(neato xv-11)通过gmapping构建地图

准备

  • 测试环境ubuntu14.04 + indigo
  • 已安装Turtlebot包,具体安装:deb包安装 | 源码安装
  • 依赖包:
    • Turtlebot应用包,https://github.com/ncnynl/turtlebot_apps.git
    • neato xv-11驱动包,https://github.com/ncnynl/xv_11_laser_driver.git

步骤

  • 建立工作空间(也可以利用现有的),编译包
$ mkdir -p  ~/turtlebot_ws/src
$ cd   ~/turtlebot_ws/src

## 激光雷达neato xv-11 驱动
$ git clone https://github.com/ncnynl/xv_11_laser_driver.git


## turtlebot建图依赖包
$ git clone https://github.com/turtlebot/turtlebot_apps 

#三个源码包,用于借鉴文件增加到turtlebot_navigation.
$ git clone https://github.com/ros-perception/slam_gmapping
$ git clone https://github.com/ros-perception/openslam_gmapping
$ git clone https://github.com/ros-planning/navigation.git

#编译
$ cd  ~/turtlebot_ws
$ catkin_make
  • 添加环境变量,在~/.bashrc最后添加一行:
$ source /home/ubu/turtlebot_ws/devel/setup.bash
  • 刷新配置
$ source ~/.bashrc
$ rospack profile

创建激光雷达(neato xv-11)的串口别名

  • 确认idVendor和idProduct,ID后面的部分idVendor:idProduct
$ lsusb
Bus 001 Device 006: ID 138a:0011 Validity Sensors, Inc. VFS5011 Fingerprint Reader
  • 新建 /etc/udev/rules.d/neato.rules文件,内容如下:(别名为neatolaser,实际名称为:/dev/neatolaser)
KERNEL=="ttyUSB*", ATTRS{idVendor}=="138a", ATTRS{idProduct}=="0011", MODE:="0666", GROUP:="dialout",  SYMLINK+="neatolaser"  
  • 增加当前用户对串口的默认访问权限:
$ sudo usermod -a -G dialout 用户名
  • 使UDEV配置生效:(使串口的默认访问权限生效,需要重启机器)
$ sudo service udev reload
$ sudo service udev restart

制作雷达驱动启动文件

  • 增加neato_laser.launch
$ roscd turtlebot_navigation
$ mkdir -p laser/driver
$ touch laser/driver/neato_laser.launch
$ rosed laser/driver/neato_laser.launch
  • 输入内容:
<launch>
    <node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="neato_laser_publisher" output="screen">
        <param name="firmware_version"  value="2" />
        <param name="frame_id"  type="string" value="laser"/>
        <param name="port"  value="/dev/neatolaser" />
        <param name="baud_rate"  value="115200" />
    </node>
    <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>
</launch>
  • 检查端口:<param name="port" value="/dev/neatolaser" />,设置好别名,或直接端口/dev/ttyUSB0
  • 检查TF:
<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>
  • 修改为args="0.0 0.0 0.18 0 0.0 0.0 为自己的实际安装位置。详情查看,static_transform_publisher部分
  • static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
  • 这里我假设底盘的中心点为0,雷达放在机器人托盘中心位置,X为0,高度为18CM,Z为0.18m
  • TF的单位使用米的,测量单位是CM

检查turtlebot_navigation包

  • 增加neato_gmapping_demo.launch文件
$ roscd  turtlebot_navigation
$ touch  launch/neato_gmapping_demo.launch
$ rosed  launch/neato_gmapping_demo.launch
  • 输入内容:
<launch>

  <!-- Define laser type-->
  <arg name="laser_type" default="neato" />

  <!-- XV-11 laser -->
  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />

  <!-- Gmapping -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg laser_type)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>

  <!-- Move base -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


</launch>
  • 增加neato_gmapping.launch.xml文件
$ roscd  turtlebot_navigation
$ touch  launch/includes/gmapping/neato_gmapping.launch.xml 
$ rosed  launch/includes/gmapping/neato_gmapping.launch.xml 
  • 输入内容:
<launch>

  <!--<node name="laser_filter"  pkg="turtlebot_navigation" type="laser_footprint_filter" />-->

  <!--<arg name="scan_topic" default="scan_filtered" />-->
  <arg name="scan_topic"  default="scan" />
  <arg name="base_frame"  default="base_footprint"/>
  <arg name="odom_frame"  default="odom"/>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg base_frame)"/>
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_update_interval" value="0.5"/>
    <param name="maxUrange" value="4.5"/>
    <param name="maxRange" value="5.1"/>
    <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="linearUpdate" value="0.3"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="2.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="100"/>
 <!--
    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>
  make the starting size small for the benefit of the Android client's memory...
  -->
    <param name="xmin" value="-1.0"/>
    <param name="ymin" value="-1.0"/>
    <param name="xmax" value="1.0"/>
    <param name="ymax" value="1.0"/>

    <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"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

测试激光雷达gmapping构建地图

  • 上网本新开端口,打开roscore
$ roscore
  • 上网本新开端口,启动turtlebot
$ roslaunch turtlebot_bringup minimal.launch
  • 上网本新开端口,启动gmapping,用于构建地图
$ roslaunch turtlebot_navigation neato_gmapping_demo.launch
  • 工作机或上网本新开端口,启动键盘操作Turtlebot
$ roslaunch turtlebot_teleop keyboard_teleop.launch 
  • 工作机或上网本新开端口,启动rviz,实时查看建图情况
$ roslaunch turtlebot_rviz_launchers view_navigation.launch

构建地图结束保存地图

  • 上网本新开端口,建立目录,保存地图
$ mkdir -p ~/map
$ rosrun map_server map_saver -f ~/map/neato_gmapping
$ ls ~/map   #查看内容,包含neato_gmapping.pgm  neato_gmapping.yaml
  • 查看地图,已经生成neato_gmapping.pgm文件,可以用图像浏览器(gimp, eog, gthumb, 等等)打开查看。

利用地图进行AMCL

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