嵌入式系统开发与应用课程设计

一、安装配置环境

然后安装需要哦的插件，编译

二、仿真

1.添加环境变量

source ~/ros/devel/setup.bash

2.运行模型

roslaunch racecar_gazebo racecar.launch 

三、创建地图

gazebo

1.运行地图

roslaunch racecar_gazebo racecar_runway.launch

2.gmapping建图

roslaunch racecar_gazebo racecar_runway.launch
roslaunch racecar_gazebo slam_gmapping.launch

保存地图

rosrun map_server map_saver -f test_map

四、导航运动

1.启动rviz

roslaunch racecar_gazebo racecar_rviz.launch
roslaunch racecar_gazebo racecar_runway_navigation.launch

设计轨迹，启动脚本

rosrun racecar_gazebo path_pursuit.py

五、基于自建的路线导航

新建launch文件，添加以下代码

<?xml version="1.0"?>
<launch>
  <!-- Launch the racecar -->
  <include file="$(find racecar_gazebo)/launch/racecar.launch">
    <arg name="world_name" value="myworld2"/>
  </include>
  
  <!-- Launch the built-map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find racecar_gazebo)/map/mycar_map.yaml" />

  <!--Launch the move base with time elastic band-->
  <param name="/use_sim_time" value="true"/>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find racecar_gazebo)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find racecar_gazebo)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find racecar_gazebo)/config/teb_local_planner_params.yaml" command="load" />

    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
    <param name="planner_frequency" value="0.01" />
    <param name="planner_patience" value="5.0" />
    <!--param name="use_dijkstra" value="false" /-->
    <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
    <param name="controller_frequency" value="5.0" />
    <param name="controller_patience" value="15.0" />

    <param name="clearing_rotation_allowed" value="false" />
  </node>
</launch>

运行自主导航文件，启动rviz

roslaunch racecar_gazebo autocar.launch 
roslaunch racecar_gazebo racecar_rviz.launch

启动脚本：

rosrun racecar_gazebo path_pursuit.py

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参考链接：https://blog.youkuaiyun.com/m0_45314623/article/details/107206303