movebase导航和地图数据的使用 - 12 为传感器增加一个layer

1.需要修改./src/navigation-full/turtlebot_apps/turtlebot_navigation/param/costmap_common_params.yaml文件。模仿obstaclelayer,增加一个ultrasoniclayer，定义如下.

ultrasonic_layer:

enabled: true

max_obstacle_height: 1.0

origin_z: 0.0

z_resolution: 0.2

z_voxels: 6

unknown_threshold: 15

mark_threshold: 0

combination_method: 1

track_unknown_space: true #true needed for disabling globalpath planning through unknown space

obstacle_range: 1.0

raytrace_range: 3.0

publish_voxel_map: false

observation_sources: ultrasonic

ultrasonic:

data_type: LaserScan

topic: ultrasonic_scan

marking: true

clearing: true

min_obstacle_height: 0.05

max_obstacle_height: 1.0

2. 将这个layer加入到localcostmap里面。

修改./src/navigation-full/turtlebot_apps/turtlebot_navigation/param/local_costmap_params.yaml：

local_costmap:

global_frame: odom

robot_base_frame: /base_footprint

update_frequency: 40.0//这个是将各个layer数据综合处理的频率。这直接影响到传感器检测到的数据反应到地图中的速度。也影响到了机器人对传感器数据的感知速度

publish_frequency: 16.0 //这个是将costmap地图数据发送出去给rviz的频率

static_map: false

rolling_window: true

width: 4.0 //local cost map的直径4m

height: 4.0

resolution: 0.05 //local cost map是一个格子地图，每个格子对应5cm.

transform_tolerance: 0.5

plugins:

- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}

- {name: xtion_layer, type: "costmap_2d::VoxelLayer"}

- {name: ultrasonic_layer, type: "costmap_2d::VoxelLayer"} //我们的超声波地图数据

- {name: inflation_layer, type: "costmap_2d::InflationLayer"}//inflation负责给所有的障碍物数据周围膨胀出一定的范围，避免机器人把一个很狭小的空间当作通道