Ailibot2仿真入门教程-gazebo-使用gazebo插件生成场景的截面地图

文章说明

• 本教程主要介绍如果使用gazebo插件生成场景的截面地图
• 测试环境： Ubuntu 20.04 + Gazebo 11 + collision_map_creator_plugin插件

操作步骤

• 此处使用本站RCM工具部署代码

# 安装rcm
curl https://www.ncnynl.com/rcm.sh | bash -

# 安装gazebo插件,ros1和ros2通用
rcm ros1_gazebo install_ros1_map_creator_plugin

测试

使用插件包中自带的world场景测试

• 加载场景

$ export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/tools/collision_map_creator_plugin/build
$ gazebo ~/tools/collision_map_creator_plugin/world/simple.world --verbose
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.18
[Msg] Loading world file [/home/lalala/tools/collision_map_creator_plugin/world/./simple.world]
Subscribing to: ~/collision_map/command
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.0.18
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

• 指定--verbose参数，显示启动的详细信息，了解加载插件
• 新开终端，请求建图

$ export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/tools/collision_map_creator_plugin/build
$ cd ~/tools/collision_map_creator_plugin/build
$ ./request_publisher "(-5,5)(5,5)(5,-5)(-5,-5)" 0.1 0.05 $(pwd)/map.png 255 ground_plane::link::collision
Request:  LL.x: -5 LL.y: -3 UR.x: 4 UR.y: 5 Height: 0.1 Resolution: 0.05 Filename: /home/lalala/tools/collision_map_creator_plugin/build/map.png Threshold: 255 GroundEntityName: ground_plane::link::collision MinHeight: 0
done1done2done3

• 参数说明

  • "(-5,5)(5,5)(5,-5)(-5,-5)" 表示要建图的范围（单位：米），通常等于Gazebo中的栅格数；
  • 0.1 表示垂直投影的高度；
  • 0.05 地图分辨率，即每个像素代表0.01m；
  • $(pwd)/cloister.png 生成地图图片的位置和名称
  • office_desk::link::collision 被视为地面，以白色显示，其余位置以黑色（255-255=0）着色

• 查看输出的地图

$ eog ~/tools/collision_map_creator_plugin/build/map.png

使用上一个教程设计的world场景进行测试

• 在world文件中尾部添加插件

$ rosed ailibot_gazebo test.world
  ...
    <plugin filename="libcollision_map_creator.so" name="collision_map_creator"/>
  </world>
</sdf>

• 加载场景

$ export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/tools/collision_map_creator_plugin/build
$ roscd ailibot_gazebo/worlds
$ gazebo test.world --verbose

• 创建地图

$ export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/tools/collision_map_creator_plugin/build
$ cd ~/tools/collision_map_creator_plugin/build
$ ./request_publisher "(-5,5)(5,5)(5,-5)(-5,-5)" 0.1 0.05 $(pwd)/map.png 255 ground_plane::link::collision

• 如果需要在rviz上的加载这个地图，则需要翻转地图才跟gazebo的地图进行匹配，否则rviz上的小车方向是反的
• 翻转地图同时查看输出的地图

$ sudo apt install imagemagick 
$ convert map.png -flip map_flip.png
$ eog ~/tools/collision_map_creator_plugin/build/map.png

• 创建一个地图对应的yaml文件

$ vim map_flip.yaml
image: map_flip.png
resolution: 0.050000
origin: [-5.000000, -5.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

参考资料

• 参考资料1
• 参考资料2