局部规划器-TebLocalPlannerROS

最新推荐文章于 2025-03-06 14:40:39 发布

慢慢的回味

最新推荐文章于 2025-03-06 14:40:39 发布

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分类专栏： ROS小车

本文链接：https://blog.youkuaiyun.com/bbxfnet/article/details/118255902

版权

本文链接地址: 局部规划器-TebLocalPlannerROS

Content:

由于Teb算法能很好的支持阿克曼小车，这儿使用TebLocalPlannerROS进行局部规划
在Move Base初始化中通过参数指定base_local_planner为teb_local_planner/TebLocalPlannerROS

    private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS"));
 
    //create a local planner
    try {
      tc_ = blp_loader_.createInstance(local_planner);
      ROS_INFO("Created local_planner %s", local_planner.c_str());
      tc_->initialize(blp_loader_.getName(local_planner), &tf_, controller_costmap_ros_);
    } catch (const pluginlib::PluginlibException& ex) {
      ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", local_planner.c_str(), ex.what());
      exit(1);
    }

Move Base中通过调用tc_->computeVelocityCommands(cmd_vel)完成速度命令计算。

局部规划器初始化

void TebLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros)
{
  // check if the plugin is already initialized
  if(!initialized_)
  {	
    // create Node Handle with name of plugin (as used in move_base for loading)
    ros::NodeHandle nh("~/" + name);
 
    // get parameters of TebConfig via the nodehandle and override the default config
    cfg_.loadRosParamFromNodeHandle(nh);       
 
    // reserve some memory for obstacles
    obstacles_.reserve(500);
 
    // create visualization instance	
    visualization_ = TebVisualizationPtr(new TebVisualization(nh, cfg_)); 
//获取小车的参数，这些参数将用于模型优化，路径计算，比如阿克曼小车的最小转弯半径        
    // create robot footprint/contour model for optimization
    RobotFootprintModelPtr robot_model = getRobotFootprintFromParamServer(nh);
//这儿我们解读TebOptimalPlanner分支    
    // create the planner instance
    if (cfg_.hcp.enable_homotopy_class_planning)
    {
      planner_ = PlannerInterfacePtr(new HomotopyClassPlanner(cfg_, &obstacles_, robot_model, visualization_, &via_points_));
      ROS_INFO("Parallel planning in distinctive topologies enabled.");
    }
    else
    {
      planner_ = PlannerInterfacePtr(new TebOptimalPlanner(cfg_, &obstacles_, robot_model, visualization_, &via_points_));
      ROS_INFO("Parallel planning in distinctive topologies disabled.");
    }
 
    // init other variables
    tf_ = tf;
    costmap_ros_ = costmap_ros;
    costmap_ = costmap_ros_->getCostmap(); // locking should be done in MoveBase.
 
    costmap_model_ = boost::make_shared(*costmap_);
 
    global_frame_ = costmap_ros_->getGlobalFrameID();
    cfg_.map_frame = global_frame_; // TODO
    robot_base_frame_ = costmap_ros_->getBaseFrameID();
 
    //Initialize a costmap to polygon converter
    if (!cfg_.obstacles.costmap_converter_plugin.empty())
    {
      try
      {
        costmap_converter_ = costmap_converter_loader_.createInstance(cfg_.obstacles.costmap_converter_plugin);
        std::string converter_name = costmap_converter_loader_.getName(cfg_.obstacles.costmap_converter_plugin);
        // replace '::' by '/' to convert the c++ namespace to a NodeHandle namespace
        boost::replace_all(converter_name, "::", "/");
        costmap_converter_->setOdomTopic(cfg_.odom_topic);
        costmap_converter_->initialize(ros::NodeHandle(nh, "costmap_converter/" + converter_name));
        costmap_converter_->setCostmap2D(costmap_);
 
        costmap_converter_->startWorker(ros::Rate(cfg_.obstacles.costmap_converter_rate), costmap_, cfg_.obstacles.costmap_converter_spin_thread);
        ROS_INFO_STREAM("Costmap conversion plugin " << cfg_.obstacles.costmap_converter_plugin << " loaded.");        
      }
      catch(pluginlib::PluginlibException& ex)
      {
        ROS_WARN("The specified costmap converter plugin cannot be loaded. All occupied costmap cells are treaten as point obstacles.