Turbot与python编程-实现多点导航
Turbot与python教程-实现多点导航
说明：
- 介绍如何实现通过python控制turbot实现多点导航
代码：
- 参考代码：github
- 实现代码：
#!/usr/bin/env python
# TurtleBot must have minimal.launch & amcl_demo.launch
# navMultiPoints.py
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?
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
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()
locations['hall_foyer'] = Pose(Point(0.643, 4.720, 0.000), Quaternion(0.000, 0.000, 0.223, 0.975))
locations['hall_kitchen'] = Pose(Point(-1.994, 4.382, 0.000), Quaternion(0.000, 0.000, -0.670, 0.743))
locations['hall_bedroom'] = Pose(Point(-3.719, 4.401, 0.000), Quaternion(0.000, 0.000, 0.733, 0.680))
locations['living_room_1'] = Pose(Point(0.720, 2.229, 0.000), Quaternion(0.000, 0.000, 0.786, 0.618))
locations['living_room_2'] = Pose(Point(1.471, 1.007, 0.000), Quaternion(0.000, 0.000, 0.480, 0.877))
locations['dining_room_1'] = Pose(Point(-0.861, -0.019, 0.000), Quaternion(0.000, 0.000, 0.892, -0.451))
# 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
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
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
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.")
演示：
- 主机，新终端，启动底盘
$ roslaunch turbot_bringup minimal.launch
- 主机上，新终端，启动雷达amcl， 并指定地图
$ roslaunch turbot_slam laser_amcl_demo.launch map_file:=/home/ubuntu/map/xxx.yaml
- /home/ubuntu/map为你地图的目录
- xxx为你地图名称
- 从机，新终端，启动rviz
$ roslaunch turbot_rviz nav.launch
- 配置脚本：
$ rosed turbot_code navMultiPoints.py
- 修改目标点：
locations['hall_foyer'] = Pose(Point(0.643, 4.720, 0.000), Quaternion(0.000, 0.000, 0.223, 0.975))
locations['hall_kitchen'] = Pose(Point(-1.994, 4.382, 0.000), Quaternion(0.000, 0.000, -0.670, 0.743))
locations['hall_bedroom'] = Pose(Point(-3.719, 4.401, 0.000), Quaternion(0.000, 0.000, 0.733, 0.680))
locations['living_room_1'] = Pose(Point(0.720, 2.229, 0.000), Quaternion(0.000, 0.000, 0.786, 0.618))
locations['living_room_2'] = Pose(Point(1.471, 1.007, 0.000), Quaternion(0.000, 0.000, 0.480, 0.877))
locations['dining_room_1'] = Pose(Point(-0.861, -0.019, 0.000), Quaternion(0.000, 0.000, 0.892, -0.451))
- 从机，新终端，启动脚本
$ rosrun turbot_code navMultiPoints.py
- 如果执行有问题,也可以直接进入脚本目录执行
$ roscd turbot_code/scripts
- 再执行脚本
$ python navMultiPoints.py
- 设置机器人的初始位置后，开始进行逐点导航。
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