ROS2机器人实验报告提示04➡开山⬅Nav2

傷城~ 2022-09-16 00:24 125阅读 0赞

ROS2基础部分实验内容详细描述分别在前3次提示中。涉及文档如下所示：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16][]

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本节开始，主要涉及文档如下图所示：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 1][]

如果不熟悉，请看直播回放，并且依据回放中的方法进行练习，注意直播时ROS2版本为foxy，镜像中是 galactic。

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本节涉及代码在如下文件夹：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 2][]

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参考：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 3][]

所有代码都已调试通过，但最好按文档自学一遍，这样才能掌握。

测试案例：

. install/setup.bash

ros2 launch sam\_bot\_description display.launch.py

ros2 launch slam\_toolbox online\_async\_launch.py

ros2 run tf2\_tools view\_frames.py

ros2 launch nav2\_bringup navigation\_launch.py

ros2 run nav2\_costmap\_2d nav2\_costmap\_2d\_markers voxel\_grid:=/local\_costmap/voxel\_grid visualization\_marker:=/my\_marker

本部分详细介绍参考钉钉直播回放和

[**Nav2官方教程➡First-Time Robot Setup Guide⬅搞不定**][Nav2_First-Time Robot Setup Guide]

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![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 4][]

添加激光主题查看效果。

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 5][]

修改一下：

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 6][] ![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAemhhbmdyZWxheQ_size_20_color_FFFFFF_t_70_g_se_x_16 7][]

如遇到问题独立思考。

自主完成实验。

import launch
    from launch.substitutions import Command, LaunchConfiguration
    import launch_ros
    import os
    
    def generate_launch_description():
        pkg_share = launch_ros.substitutions.FindPackageShare(package='sam_bot_description').find('sam_bot_description')
        default_model_path = os.path.join(pkg_share, 'src/description/sam_bot_description.urdf')
        default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
        world_path=os.path.join(pkg_share, 'world/my_world.sdf')
        
        robot_state_publisher_node = launch_ros.actions.Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
        )
        joint_state_publisher_node = launch_ros.actions.Node(
            package='joint_state_publisher',
            executable='joint_state_publisher',
            name='joint_state_publisher',
            condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
        )
        rviz_node = launch_ros.actions.Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            output='screen',
            arguments=['-d', LaunchConfiguration('rvizconfig')],
        )
        spawn_entity = launch_ros.actions.Node(
        	package='gazebo_ros', 
        	executable='spawn_entity.py',
            arguments=['-entity', 'sam_bot', '-topic', 'robot_description'],
            output='screen'
        )
        robot_localization_node = launch_ros.actions.Node(
             package='robot_localization',
             executable='ekf_node',
             name='ekf_filter_node',
             output='screen',
             parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
        )
    
        return launch.LaunchDescription([
            launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                                description='Flag to enable joint_state_publisher_gui'),
            launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                                description='Absolute path to robot urdf file'),
            launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                                description='Absolute path to rviz config file'),
            launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                                description='Flag to enable use_sim_time'),
            launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', world_path], output='screen'),
    
            joint_state_publisher_node,
            robot_state_publisher_node,
            spawn_entity,
            robot_localization_node,
            rviz_node
        ])

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[Nav2_First-Time Robot Setup Guide]: https://blog.csdn.net/ZhangRelay/article/details/120566547?spm=1001.2014.3001.5502
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