ROS 自定义地图加载和导航（turtlebot测试）

最新推荐文章于 2025-06-02 00:22:28 发布

light169

最新推荐文章于 2025-06-02 00:22:28 发布

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本文链接：https://blog.youkuaiyun.com/light169/article/details/106550420

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本文详细介绍了使用ROS与TurtleBot进行地图构建及自定义地图AMCL导航的过程，包括启动TurtleBot底盘、传感器、hector_slam、远程遥控、保存地图，以及解决地图显示不正确的常见问题。

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1、构建地图

启动turtlebot底盘

roslaunch turtlebot_bringup minimal.launch

启动传感器（激光雷达和惯性导航）

roslaunch lms1xx LMS1xx.launch #启动激光雷达

启动hector slam

roslaunch lms1xx hector_mapping_demo.launch

启动远程遥控

roslaunch turtlebot_teleop keyboard_teleop.launch

启动遥控xbox

roslaunch turtlebot_teleop xbox360_teleop.launch


#(1)<remap from="turtlebot_teleop_joystick/cmd_vel" #to="cmd_vel_mux/input/teleop"/>
#(2) joy_node节点修改
#<node pkg="joy" type="joy_node" name="joystick">
#   <param name="dev" type="string" value="/dev/input/js0" />
#   <param name="deadzone" value="0.12" />
#  </node>

保存地图

rosrun map_server map_saver -f ~/my_map

2、自定义地图amcl导航

启动turtlebot底盘

roslaunch turtlebot_bringup minimal.launch

启动激光雷达

roslaunch turtlebot_navigation lms1xx.launch

启动amcl导航

roslaunch turtlebot_navigation lab_amcl_nomap.launch #不带加载地图，单独加载

加载地图

rosrun map_server map_server my_map.yaml

rviz查看

roslaunch turtlebot_navigation view_robot.launch

3、问题

（1）地图显示不正确

打开yaml文件

image: my_map.png
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

注意：

图像像素值[0-255].

If negate is false, p = (255 - x) / 255.0. This means that black (0) now has the highest value (1.0) and white (255) has the lowest (0.0).
If negate is true, p = x / 255.0. This is the non-standard interpretation of images, which is why it is called negate, even though the math indicates that x is not negated. Nomenclature is hard.

一般negate为0。

p = (255 - x) / 255.0

If p > occupied_thresh（0.65，换算为灰度值，约为90，也就是说像素小于90为占用（障碍物））, output the value 100 to indicate the cell is occupied.
If p < free_thresh（0.196，换算为灰度值，约为205，也就是说像素大于205为空（自由空间站））, output the value 0 to indicate the cell is free.
Otherwise, output -1 a.k.a. 255 (as an unsigned char), to indicate that the cell is unknown.

我通过hector保存的图像自由空间的值为200，显示为障碍物，所以出现上面图像错误。