ros2与turtlebot3仿真教程-使用GPS定位和导航

说明

• 介绍如何利用turtlebot3进行GPS定位
• 测试环境： galactic，humble

步骤

• 利用rcm安装相关代码

rcm -s install_nav2_gps_ws

• 效果

+---------------------------------------------------+
|                                                   |
|   =============================================   |
|                                                   |
|         Welcome to ROS Commands Manager CLI       |
|                                                   |
|   =============================================   |
|   Author:ncnynl                                   |
|   Email:1043931@qq.com                            |
|   Website:https://ncnynl.com                      |
|   Date:2022-11-18                                 |
|   QQ Qun B:926779095                              |
|   QQ Qun C:937347681                              |
|   QQ Qun D:562093920                              |
+---------------------------------------------------+

#####################################################
########Alternative scripts 
#####################################################
ros2_gazebo:
  ID:239 - install_nav2_gps_ws.sh
  ------------------------------------------Install ros2 Omni wheel gazebo car shell
  ------------------------------------------ https://www.ncnynl.com/archives/202303/5842.html

└ Whether to execute the script? [Y/n]

• 输入y即可安装，安装完成后，代码位于根目录下，~/ros2_nav2_gps_ws

测试定位

• 启动仿真

ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py

• 效果图

• 启动gps定位

ros2 launch nav2_gps_waypoint_follower_demo dual_ekf_navsat.launch.py

• 启动mapviz

ros2 launch nav2_gps_waypoint_follower_demo mapviz.launch.py

• 启动后要指定bing map的api key，此key可以到微软网站申请
• 效果图

• 启动键盘控制

ros2 run teleop_twist_keyboard teleop_twist_keyboard

• 通过终端的按键 ijkl，来控制方向移动，可以看到gazebo和mapviz上小车进行移动。

测试导航

• 启动仿真

ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py

• 效果图

• 启动gps定位

ros2 launch nav2_gps_waypoint_follower_demo dual_ekf_navsat.launch.py

• 启动导航

ros2 launch nav2_gps_waypoint_follower_demo navigation.launch.py

• 启动rviz

ros2 launch nav2_gps_waypoint_follower_demo rviz.launch.py

• 效果图

• 通过点击rviz上的 nav2 goal，再在地图上指定点和方向，既可以导航