Ros By example-第八章 导航，路劲规划和SLAM

最新推荐文章于 2020-10-18 22:10:14 发布
最新推荐文章于 2020-10-18 22:10:14 发布
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本文介绍了ROS中的导航堆栈核心组件，包括move_base用于移动控制、gmapping用于地图构建及AMCL实现定位等功能。文中还详细说明了如何使用move_base指定导航目标以及路径规划所需的配置参数。

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SLAM 一般使用昂贵的激光传扫描器来收集数据， 但是现在可以使用 Kinect或者Asus Xtion 等深度相机来使用点云的方式来模拟激光扫描。(参考depthimage_to_laserscan 和 kinect_2d_scanner 包)

在本章中，我们将介绍构成导航堆栈的核心三个ROS包：
•move_base： 机器人移动到给定参考坐标系的目标位置
•gmapping ：利用（从深度相机获取的模拟激光数据）激光扫描数据创建地图
•AMCL: 使用现有的地图定位

8.1.1 使用move_base指定导航目标

$rosmsg show MoveBaseActionGoal

Header header
uint32 seq
time stamp
string frame_id
actionlib_msgs/GoalID goal_id
time stamp
string id
move_base_msgs/MoveBaseGoal goal
geometry_msgs/PoseStamped target_pose
Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
8.1.2 为路劲规划配置参数

move_base 节点在运行前需要四个配置文件

•base_local_planner_params.yaml
•costmap_common_params.yaml
•global_costmap_params.yaml
•local_costmap_params.yaml


 

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Creating a URDF Model for your Robot....................................................89 4.1 Start with the Base and Wheels..........................................................................90 4.1.1 The robot_state_publisher and joint_state_publisher nodes....................................91 4.1.2 The base URDF/Xacro file......................................................................................92 4.1.3 Alternatives to using the /base_footprint frame......................................................97 4.1.4 Adding the base to the robot model.........................................................................97 4.1.5 Viewing the robot's transform tree..........................................................................98 4.1.6 Using a mesh for the base........................................................................................99 4.2 Simplifying Your Meshes.................................................................................104 4.3 Adding a Torso.................................................................................................104 4.3.1 Modeling the torso.................................................................................................105 4.3.2 Attaching the torso to the base..............................................................................106 4.3.3 Using a mesh for the torso.....................................................................................107 4.3.4 Adding the mesh torso to the mesh base...............................................................108 4.4 Measure, Calculate and Tweak.........................................................................110 4.5 Adding a Camera..............................................................................................110 4.5.1 Placement of the camera........................................................................................111 4.5.2 Modeling the camera.............................................................................................112 4.5.3 Adding the camera to the torso and base...............................................................114 4.5.4 Viewing the transform tree with torso and camera................................................115 4.5.5 Using a mesh for the camera.................................................................................116 4.5.6 Using an Asus Xtion Pro instead of a Kinect........................................................118 4.6 Adding a Laser Scanner (or other Sensors)......................................................119 4.6.1 Modeling the laser scanner....................................................................................119 4.6.2 Attaching a laser scanner (or other sensor) to a mesh base...................................120 4.6.3 Configuring the laser node launch file..................................................................121 4.7 Adding a Pan and Tilt Head..............................................................................122 4.7.1 Using an Asus Xtion Pro instead of a Kinect........................................................124 4.7.2 Modeling the pan-and-tilt head..............................................................................124 4.7.3 Figuring out rotation axes......................................................................................127 4.7.4 A pan and tilt head using meshes on Pi Robot......................................................128 4.7.5 Using an Asus Xtion Pro mesh instead of a Kinect on Pi Robot...........................129 4.8 Adding One or Two Arms................................................................................129 4.8.1 Placement of the arm(s).........................................................................................130 4.8.2 Modeling the arm...................................................................................................130 4.8.3 Adding a gripper frame for planning.....................................................................133 4.8.4 Adding a second arm.............................................................................................134 4.8.5 Using meshes for the arm servos and brackets......................................................136 4.9 Adding a Telescoping Torso to the Box Robot.................................................138 4.10 Adding a Telescoping Torso to Pi Robot........................................................139 4.11 A Tabletop One-Arm Pi Robot.......................................................................140 4.12 Testing your Model with the ArbotiX Simulator............................................142 4.12.1 A fake Box Robot................................................................................................142 4.12.2 A fake Pi Robot...................................................................................................145 4.13 Creating your own Robot Description Package..............................................145 4.13.1 Using rosbuild......................................................................................................145 4.13.2 Using catkin.........................................................................................................146 4.13.3 Copying files from the rbx2_description package...............................................147 4.13.4 Creating a test launch file....................................................................................147 5. Controlling Dynamixel Servos: Take 2......................................................149 5.1 Installing the ArbotiX Packages.......................................................................149 5.2 Launching the ArbotiX Nodes..........................................................................150 5.3 The ArbotiX Configuration File.......................................................................154 5.4 Testing the ArbotiX Joint Controllers in Fake Mode........................................160 5.5 Testing the Arbotix Joint Controllers with Real Servos....................................162 5.6 Relaxing All Servos..........................................................................................165 5.7 Enabling or Disabling All Servos.....................................................................168 6. Robot Diagnostics........................................................................................169 6.1 The DiagnosticStatus Message.........................................................................170 6.2 The Analyzer Configuration File......................................................................171 6.3 Monitoring Dynamixel Servo Temperatures....................................................172 6.3.1 Monitoring the servos for a pan-and-tilt head.......................................................172 6.3.2 Viewing messages on the /diagnostics topic.........................................................175 6.3.3 Protecting servos by monitoring the /diagnostics topic.........................................177 6.4 Monitoring a Laptop Battery............................................................................181 6.5 Creating your Own Diagnostics Messages.......................................................182 6.6 Monitoring Other Hardware States...................................................................188 7. Dynamic Reconfigure..................................................................................191 7.1 Adding Dynamic Parameters to your own Nodes.............................................192 7.1.1 Creating the .cfg file..............................................................................................192 7.1.2 Making the .cfg file executable.............................................................................193 7.1.3 Configuring the CMakeLists.txt file......................................................................194 7.1.4 Building the package.............................................................................................194 7.2 Adding Dynamic Reconfigure Capability to the Battery Simulator Node........194 7.3 Adding Dynamic Reconfigure Client Support to a ROS Node.........................198 7.4 Dynamic Reconfigure from the Command Line...............................................201 8. Multiplexing Topics with mux & yocs.......................................................203 8.1 Configuring Launch Files to Use mux Topics..................................................204 8.2 Testing mux with the Fake TurtleBot...............................................................205 8.3 Switching Inputs using mux Services...............................................................206 8.4 A ROS Node to Prioritize mux Inputs..............................................................207 8.5 The YOCS Controller from Yujin Robot..........................................................210 8.5.1 Adding input sources.............................................................................................213 9. Head Tracking in 3D...................................................................................215 9.1 Tracking a Fictional 3D Target.........................................................................216 9.2 Tracking a Point on the Robot..........................................................................217 9.3 The 3D Head Tracking Node............................................................................220 9.3.1 Real or fake head tracking.....................................................................................220 9.1.2 Projecting the target onto the camera plane...........................................................221 9.4 Head Tracking with Real Servos......................................................................224 9.4.1 Real servos and fake target....................................................................................225 9.4.2 Real servos, real target...........................................................................................226 9.4.3 The nearest_cloud.py node and launch file...........................................................228 10. Detecting and Tracking AR Tags.............................................................233 10.1 Installing and Testing the ar_track_alvar Package..........................................234 10.1.1 Creating your own AR Tags................................................................................234 10.1.2 Generating and printing the AR tags...................................................................236 10.1.3 Launching the camera driver and ar_track_alvar node.......................................236 10.1.4 Testing marker detection.....................................................................................238 10.1.5 Understanding the /ar_pose_marker topic...........................................................238 10.1.6 Viewing the markers in RViz..............................................................................240 10.2 Accessing AR Tag Poses in your Programs....................................................240 10.2.1 The ar_tags_cog.py script....................................................................................240 10.2.2 Tracking the tags with a pan-and-tilt head..........................................................244 10.3 Tracking Multiple Tags using Marker Bundles..............................................245 10.4 Following an AR Tag with a Mobile Robot....................................................245 10.4.1 Running the AR follower script on a TurtleBot .................................................248 10.5 Exercise: Localization using AR Tags............................................................249 11. Arm Navigation using MoveIt!.................................................................251 11.1 Do I Need a Real Robot with a Real Arm?.....................................................252 11.2 Degrees of Freedom.......................................................................................252 11.3 Joint Types.....................................................................................................253 11.4 Joint Trajectories and the Joint Trajectory Action Controller.........................254 11.5 Forward and Inverse Arm Kinematics............................................................257 11.6 Numerical versus Analytic Inverse Kinematics..............................................258 11.7 The MoveIt! Architecture...............................................................................258 11.8 Installing MoveIt!...........................................................................................260 11.9 Creating a Static URDF Model for your Robot .............................................261 11.10 Running the MoveIt! Setup Assistant...........................................................262 11.10.1 Load the robot's URDF model...........................................................................263 11.2.2 Generate the collision matrix.............................................................................264 11.10.3 Add the base_odom virtual joint.......................................................................264 11.10.4 Adding the right arm planning group................................................................265 11.10.5 Adding the right gripper planning group...........................................................269 11.10.6 Defining robot poses..........................................................................................271 11.10.7 Defining end effectors.......................................................................................273 11.10.8 Defining passive joints......................................................................................273 11.10.9 Generating the configuration files.....................................................................273 11.11 Configuration Files Created by the MoveIt! Setup Assistant........................275 11.11.1 The SRDF file (robot_name.srdf)......................................................................275 11.11.2 The fake_controllers.yaml file...........................................................................276 11.11.3 The joint_limits.yaml file..................................................................................277 11.11.4 The kinematics.yaml file...................................................................................278 11.12 The move_group Node and Launch File.......................................................280 11.13 Testing MoveIt! in Demo Mode...................................................................280 11.13.1 Exploring additional features of the Motion Planning plugin...........................284 11.13.2 Re-running the Setup Assistant at a later time..................................................285 11.14 Testing MoveIt! from the Command Line....................................................286 11.15 Determining Joint Configurations and End Effector Poses...........................289 11.16 Using the ArbotiX Joint Trajectory Action Controllers................................292 11.16.1 Testing the ArbotiX joint trajectory action controllers in simulation...............292 11.16.2 Testing the ArbotiX joint trajectory controllers with real servos......................300 11.17 Configuring MoveIt! Joint Controllers.........................................................301 11.17.1 Creating the controllers.yaml file......................................................................302 11.17.2 Creating the controller manager launch file......................................................304 11.18 The MoveIt! API..........................................................................................305 11.19 Forward Kinematics: Planning in Joint Space..............................................306 11.20 Inverse Kinematics: Planning in Cartesian Space.........................................314 11.21 Pointing at or Reaching for a Visual Target..................................................322 11.22 Setting Constraints on Planned Trajectories.................................................324 11.22.1 Executing Cartesian Paths.................................................................................324 11.22.2 Setting other path constraints............................................................................330 11.23 Adjusting Trajectory Speed..........................................................................333 11.24 Adding Obstacles to the Planning Scene......................................................337 11.25 Attaching Objects and Tools to the Robot....................................................346 11.26 Pick and Place..............................................................................................348 11.27 Adding a Sensor Controller..........................................................................360 11.28 Running MoveIt! on a Real Arm..................................................................363 11.28.1 Creating your own launch files and scripts.......................................................364 11.28.2 Running the robot's launch files........................................................................364 11.2.3 Forward kinematics on a real arm.....................................................................365 11.28.4 Inverse kinematics on a real arm.......................................................................366 11.28.5 Cartesian paths on a real arm.............................................................................367 11.28.6 Pick-and-place on a real arm.............................................................................367 11.28.7 Pointing at or reaching for a visual target..........................................................367 11.29 Creating a Custom Fast IK Plugin................................................................368 12. Gazebo: Simulating Worlds and Robots.................................................375 12.1 Installing Gazebo............................................................................................376 12.2 Hardware Graphics Acceleration....................................................................377 12.3 Installing the ROS Gazebo Packages..............................................................378 12.4 Installing the Kobuki ROS Packages..............................................................379 12.5 Installing the UBR-1 Files..............................................................................379 12.6 Using the Gazebo GUI...................................................................................379 12.7 Missing Model Bug in Gazebo 1.9.................................................................381 12.8 Testing the Kobuki Robot in Gazebo..............................................................383 12.8.1 Accessing simulated sensor data.........................................................................385 12.8.2 Adding safety control to the Kobuki...................................................................389 12.8.3 Running the nav_square.py script from Volume 1..............................................391 12.9 Loading Other Worlds and Objects................................................................392 12.10 Testing the UBR-1 Robot in Gazebo............................................................393 12.10.1 UBR-1 joint trajectories.....................................................................................394 12.1.2 The UBR-1 and MoveIt!....................................................................................395 12.11 Real Pick-and-Place using the UBR-1 Perception Pipeline..........................397 12.11.1 Limitations of depth cameras............................................................................398 12.11.2 Running the demo..............................................................................................399 12.11.3 Understanding the real_pick_and_place.py script.............................................404 12.12 Running Gazebo Headless + RViz...............................................................407 13. Rosbridge: Building a Web GUI for your Robot...................................411 13.1 Installing the rosbridge Packages...................................................................411 13.2 Installing the mjpeg_sever Package................................................................412 13.3 Installing a Simple Web Server (mini-httpd)..................................................415 13.4 Starting mini-httpd, rosbridge and mjpeg_server............................................416 13.5 A Simple rosbridge HTML/Javascript GUI....................................................417 13.6 Testing the GUI with a Fake TurtleBot..........................................................420 13.7 Testing the GUI with a Real Robot.................................................................420 13.8 Viewing the Web GUI on another Device on your Network..........................421 13.9 Using the Browser Debug Console.................................................................421 13.10 Understanding the Simple GUI.....................................................................423 13.10.1 The HTML layout: simple_gui.html.................................................................423 13.1.2 The JavaScript code: simple_gui.js...................................................................428 13.11 A More Advanced GUI using jQuery, jqWidgets and KineticJS..................438 13.12 Rosbridge Summary.....................................................................................443 Appendix: Plug and Play USB Devices for ROS: Creating udev Rules......445 13.13 Adding yourself to the dialout Group...........................................................445 13.14 Determining the Serial Number of a Device.................................................446 13.15 UDEV Rules.................................................................................................447 13.16 Testing a UDEV Rule...................................................................................448 13.17 Using a UDEV Device Name in a ROS Configuration File..........................448
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