基于ROS下的SLAM导航技术

slam作为当今最火的导航技术，在各个领域都有广泛的应用，本文是利用Gmapping算法实现机器人自主完成导航和建图的实例，代码齐全、中文解释更加方便记忆，适合初学者快速入门学习；文件包中含有urdf文件、xacro文件、启动gazebo仿真环境的文件、启动各项节点的roslaunch文件、可视化rviz界面模拟仿真，即使没有实体机器人也可以在电脑上完成slam导航与建图。

1、slam导航实现的代码

<launch>
  <param name="use_sim_time" value="true"/>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan"/>
    <param name="base_frame" value="base_footprint"/>
    <!--底盘坐标系-->
    <param name="odom_frame" value="odom"/>
    <!--里程计坐标系-->
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="16.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="3.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="30"/>
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>

  <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />
  <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" />

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find nav_car)/config/new_test.rviz"/>

</launch>

2、导航地图保存代码实现

<launch>
    <arg name="filename" value="$(find nav_car)/map/map01" />
    <node name="map_save" pkg="map_server" type="map_saver" args="-f $(arg filename)" />
</launch>

3、导航地图重现代码实现

<launch>
    <arg name="map" default="map01.yaml" />
    <node pkg="map_server" type="map_server" name="map_server" args="$(find nav_car)/map/map01.yaml" />
</launch>

4、gazebo仿真环境代码实现

<launch>
    <param name="robot_description" command="$(find xacro)/xacro $(find new_gazebo)/urdf/car.urdf.xacro" />
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find new_gazebo)/worlds/new_map/box_house.world" />
    </include>
    <node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description" />

</launch>

5、路径规划代码实现

<launch>

    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
        <rosparam file="$(find nav_car)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find nav_car)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find nav_car)/param/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find nav_car)/param/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find nav_car)/param/base_local_planner_params.yaml" command="load" />
    </node>

</launch>

6、仿真环境下机器人本体代码实现

<robot name="car">
    <link name="base_footprint">
        <visual>
            <geometry>
                <sphere radius="0.001" />
            </geometry>
        </visual>
    </link>
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.4 0.2 0.1 " />
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <material name="blue">
                    <color rgba="0 0.5 0.5 0.2"/>
                </material>
            </geometry>
        </visual>
    </link>
    <joint name="base_link2base_footprint" type="fixed">
        <parent link="base_footprint"/>
        <child link="base_link"/>
        <origin xyz="0 0 0.05"/>
    </joint>
    <link name="camera">
        <visual>
            <geometry>
                <box size="0.01 0.02 0.015"/>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <material name="black">
                    <color rgba="0 0.2 0.9 0.4"/>
                </material>
            </geometry>
        </visual>
    </link>
    <joint name="camera2base_link" type="continuous">
        <parent link="base_link"/>
        <child link="camera"/>
        <origin xyz="0.19 0 0.05" rpy="0 0 0 "/>
        <axis xyz="0 0 1"/>
    </joint>
    <link name="left_wheel">
        <visual>
            <geometry>
                <cylinder radius="0.038" length="0.018" />
            </geometry>
            <origin xyz="0 0 0" rpy="1.5705 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
    </link>

    <joint name="left_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="left_wheel" />
        <origin xyz="0 0.1 -0.0225" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="right_wheel">
        <visual>
            <geometry>
                <cylinder radius="0.035" length="0.018" />
            </geometry>
            <origin xyz="0 0 0" rpy="1.5705 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
    </link>
    <joint name="right_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="right_wheel" />
        <origin xyz="0 -0.1 -0.0225" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="front_wheel">
        <visual>
            <geometry>
                <sphere radius="0.01" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
    </link>

    <joint name="front_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="front_wheel" />
        <origin xyz="0.18 0 -0.06" />
        <axis xyz="1 1 1" />
    </joint>

    <link name="back_wheel">
        <visual>
            <geometry>
                <sphere radius="0.01" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black">
                <color rgba="0.0 0.0 0.0 1.0" />
            </material>
        </visual>
    </link>

    <joint name="back_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="back_wheel" />
        <origin xyz="-0.18 0 -0.06" />
        <axis xyz="1 1 1" />
    </joint>
    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="0.01" length="0.15" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red">
                <color rgba="0.8 0.2 0.0 0.8" />
            </material>
        </visual>
    </link>
    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="0.15 0 0.12" />
    </joint>



 <link name="laser">
        <visual>
            <geometry>
                <box size="0.02 0.04 0.03" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
    </link>

    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="0 0 0.07" />
    </joint>













</robot>

7、整个导航建图视频演示

slam导航建图视频展示

slam导航建图视频展示_哔哩哔哩_bilibili