ROS Navigation -- base_local_planner

本文深入探讨了ROS导航堆栈中的base_local_planner模块,解析了其核心算法DWA和TrajectoryRollout的工作原理,介绍了如何通过采样控制空间、前向模拟和轨迹评估来生成速度命令,避免障碍并达到目标。

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ROS Navigation – base_local_planner概述

ROS Navigation – base_local_planner

使用算法:trajectory Rollout and Dynamic Window approaches。
输入:全局规划、costmap
输出:速度命令
适用对象:全向和非全向
机器人轮廓:凸多边形或者圆形

概述

Trajectory Rollout and Dynamic Window Approach (DWA)算法基本理念如下:
在这里插入图片描述

1、在机器人控制空间离散的采样(dx,dy,dtheta)
2、拿采样的离散点做前向模拟,基于机器人当前状态,预测如果使用空间采样点的速度运动一段时间,会发生什么
3、评估前向模拟的每条轨迹,评估标准包括(接近障碍,接近目标,接近全局路径和速度)。丢弃不合法的轨迹(如可能碰到障碍物的轨迹)
4、采用得分最高的轨迹,并将其对应速度发给底座
5、重复以上步骤

DWA和Trajectory Rollout区别:控制空间采样差异
Trajectory Rollout:前向模拟阶段所有速度集合
DWA:更小的采样空间。(效率更高,较为推荐)

1.1 map grip

每个控制周期,在机器人周围创建栅格地图(大小为局部成本地图大小,由move_base决定)。
为接近目标的轨迹评分时,考虑的目标为局部目标。

2震荡抑制

为了防止振荡,当机器人向任何方向移动时,对于下一个循环,相反方向被标记为无效,直到机器人从设置标志的位置移动超过一定距离。

3通用local planning

以下的类和接口遵照通用局部规划器工作原则允许进行不同实例化。以dwa_local_planner为模板加入自己的代价函数或者轨迹生成器,来创建客制化的局部规划器是可能的。

3.1 TrajectorySampleGenerator

该接口描述了一种可以生成很多轨迹发生器,每调用一次nextTrajectory()就会返回一个新的轨迹。利用trajectory rollout or the DWA的方法,SimpleTrajectoryGenerator类可以生成许多轨迹。

3.2 TrajectoryCostFunction

这个接口包含了最重要的函数scoreTrajectory(Trajectory &traj), 该函数输入轨迹后会输出轨迹评价分数。如果输出负分数意味着轨迹无效;如果输出正直,对于代价函数来说值越小越好。每个代价函数有一个比例因子,与其它代价函数比较时候,通过调节比例因子,代价函数影响可以被改变。base_local_planner包附带了一些在PR2上使用过的代价函数。

3.3 SimpleScoredSamplingPlanner

这是轨迹搜索的简单实现,采用TrajectorySampleGenerator和TrajectoryCostFunction列表。它将调用nextTrajectory()直到生成器停止生成轨迹。对于每个轨迹,它将循环遍历成本函数列表,将其正值相加或在一个成本函数返回负值时中止评分。

使用成本函数的比例,结果是具有正成本函数结果的最佳加权和的轨迹。

3.5 Cost Functions

3.5.1 ObstacleCostFunction

基于感知到的障碍评估轨迹

3.5.2 MapGridCostFunction

基于与全局路径或者目标点的接近程度评价轨迹。

3.5.3 OscillationCostFunction

用以减小震荡

3.5.4 PreferForwardCostFunction

适用于类似PR2那种在机器人前方有很好传感器(如倾角雷达)布置的机器人。 该代价函数鼓励前向运动,惩罚后向或者其它周围方向性运动。

4 TrajectoryPlannerROS

该接口继承了nav_core包的nav_core::BaseLocalPlanner接口。

4.1.1 发布的主题

~/global_plan (nav_msgs/Path)
表示的是局部规划器目前正在跟随的全局规划中的一部分,主要用于可视化。
~/local_plan (nav_msgs/Path)
表示的是上一个周期局部规划或者轨迹得分最高者,主要用于可视化。
~/cost_cloud (sensor_msgs/PointCloud2)
用于表示规划的代价珊格,也是用于可视化目的。参数publish_cost_grid_pc用来使能或者关闭该可视化。New in navigation 1.4.0

4.1.2 订阅的主题

odom (nav_msgs/Odometry)
该Odometry信息用于向局部规划器提供当前机器人的速度。 这个里程消息中的速度信息被假定使用的坐标系与TrajectoryPlannerROS对象内代价地图的robot_base_frame参数指定的坐标系相同。有关该参数详细介绍请参照 costmap_2d 包。

5轨迹规划器

base_local_planner::TrajectoryPlanner实现了DWA and Trajectory Rollout算法。 如果要在ROS中想使用base_local_planner::TrajectoryPlanner, 请使用进过封装的TrajectoryPlannerROS wrapper。

EPRobot@EPRobot:~/robot_ws$ cd ~/robot_ws # 在每次打开新终端时运行 EPRobot@EPRobot:~/robot_ws$ catkin_make Base path: /home/EPRobot/robot_ws Source space: /home/EPRobot/robot_ws/src Build space: /home/EPRobot/robot_ws/build Devel space: /home/EPRobot/robot_ws/devel Install space: /home/EPRobot/robot_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/EPRobot/robot_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/EPRobot/robot_ws/devel -- Using CMAKE_PREFIX_PATH: /home/EPRobot/robot_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/EPRobot/robot_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/EPRobot/robot_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 62 packages in topological order: -- ~~ - astra_launch -- ~~ - base_control -- ~~ - hibot_follower -- ~~ - lslidar (metapackage) -- ~~ - navigation (metapackage) -- ~~ - robot_navigation -- ~~ - robot_upstart -- ~~ - simple_navigation_goals -- ~~ - lslidar_msgs -- ~~ - rospy_message_converter -- ~~ - eprobot_auto_home -- ~~ - eprobot_start -- ~~ - ls01d -- ~~ - map_server -- ~~ - hls_lfcd_lds_driver -- ~~ - iiiroboticslidar2 -- ~~ - astra_camera -- ~~ - rplidar_ros -- ~~ - eprobot_joy -- ~~ - lslidar_driver -- ~~ - robot_pose_ekf -- ~~ - sc_mini -- ~~ - amcl -- ~~ - fake_localization -- ~~ - laser_filters -- ~~ - robot_localization -- ~~ - track_detection -- ~~ - voxel_grid -- ~~ - costmap_2d -- ~~ - nav_core -- ~~ - base_local_planner -- ~~ - carrot_planner -- ~~ - clear_costmap_recovery -- ~~ - dwa_local_planner -- ~~ - move_slow_and_clear -- ~~ - navfn -- ~~ - global_planner -- ~~ - rotate_recovery -- ~~ - move_base -- ~~ - teb_local_planner -- ~~ - eprobot_description -- ~~ - xf_mic_asr_offline -- ~~ - ydlidar -- ~~ - yocs_ar_pair_approach -- ~~ - yocs_cmd_vel_mux -- ~~ - yocs_controllers -- ~~ - yocs_keyop -- ~~ - yocs_localization_manager -- ~~ - yocs_math_toolkit -- ~~ - yocs_ar_marker_tracking -- ~~ - yocs_diff_drive_pose_controller -- ~~ - yocs_ar_pair_tracking -- ~~ - yocs_joyop -- ~~ - yocs_navi_toolkit -- ~~ - yocs_navigator -- ~~ - yocs_rapps -- ~~ - yocs_safety_controller -- ~~ - yocs_velocity_smoother -- ~~ - yocs_virtual_sensor -- ~~ - yocs_waypoint_provider -- ~~ - yocs_waypoints_navi -- ~~ - yujin_ocs (metapackage) -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'astra_launch' -- ==> add_subdirectory(ros_astra_launch) -- +++ processing catkin package: 'base_control' -- ==> add_subdirectory(base_control) -- +++ processing catkin package: 'hibot_follower' -- ==> add_subdirectory(hibot_follower) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) hibot_follower/CMakeLists.txt:24 (catkin_package) -- +++ processing catkin metapackage: 'lslidar' -- ==> add_subdirectory(lslidar) -- +++ processing catkin metapackage: 'navigation' -- ==> add_subdirectory(navigation-melodic/navigation) -- +++ processing catkin package: 'robot_navigation' -- ==> add_subdirectory(robot_navigation) -- +++ processing catkin package: 'robot_upstart' -- ==> add_subdirectory(robot_upstart) -- +++ processing catkin package: 'simple_navigation_goals' -- ==> add_subdirectory(simple_navigation_goals) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'lslidar_msgs' -- ==> add_subdirectory(lslidar_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- lslidar_msgs: 5 messages, 0 services -- +++ processing catkin package: 'rospy_message_converter' -- ==> add_subdirectory(rospy_message_converter) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- rospy_message_converter: 4 messages, 1 services -- +++ processing catkin package: 'eprobot_auto_home' -- ==> add_subdirectory(eprobot_auto_home) -- +++ processing catkin package: 'eprobot_start' -- ==> add_subdirectory(eprobot_start) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) eprobot_start/CMakeLists.txt:24 (catkin_package) -- +++ processing catkin package: 'ls01d' -- ==> add_subdirectory(lidar/ls01d) -- +++ processing catkin package: 'map_server' -- ==> add_subdirectory(navigation-melodic/map_server) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- system -- +++ processing catkin package: 'hls_lfcd_lds_driver' -- ==> add_subdirectory(lidar/hls_lfcd_lds_driver) -- Boost version: 1.65.1 -- +++ processing catkin package: 'iiiroboticslidar2' -- ==> add_subdirectory(lidar/iiiroboticslidar2_ros) -- +++ processing catkin package: 'astra_camera' -- ==> add_subdirectory(ros_astra_camera) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- chrono -- date_time -- atomic -- ORRBEC Machine : aarch64 -- ORRBEC Machine Bits : 64 -- ORRBEC : arm64 -- libuvc 0.0.6 -- astra_camera: 0 messages, 19 services -- +++ processing catkin package: 'rplidar_ros' -- ==> add_subdirectory(lidar/rplidar_ros) -- +++ processing catkin package: 'eprobot_joy' -- ==> add_subdirectory(eprobot_joy) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) eprobot_joy/CMakeLists.txt:39 (catkin_package) -- +++ processing catkin package: 'lslidar_driver' -- ==> add_subdirectory(lslidar_driver) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'boost' but neither 'boost_INCLUDE_DIRS' nor 'boost_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) lslidar_driver/CMakeLists.txt:22 (catkin_package) -- +++ processing catkin package: 'robot_pose_ekf' -- ==> add_subdirectory(robot_pose_ekf) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- robot_pose_ekf: 0 messages, 1 services -- +++ processing catkin package: 'sc_mini' -- ==> add_subdirectory(lidar/sc_mini) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'amcl' -- ==> add_subdirectory(navigation-melodic/amcl) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'fake_localization' -- ==> add_subdirectory(navigation-melodic/fake_localization) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'laser_filters' -- ==> add_subdirectory(laser_filters) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- +++ processing catkin package: 'robot_localization' -- ==> add_subdirectory(robot_localization) robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'. -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- robot_localization: 0 messages, 7 services -- +++ processing catkin package: 'track_detection' -- ==> add_subdirectory(track_detection) -- +++ processing catkin package: 'voxel_grid' -- ==> add_subdirectory(navigation-melodic/voxel_grid) -- +++ processing catkin package: 'costmap_2d' -- ==> add_subdirectory(navigation-melodic/costmap_2d) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- chrono -- date_time -- atomic -- costmap_2d: 1 messages, 0 services -- +++ processing catkin package: 'nav_core' -- ==> add_subdirectory(navigation-melodic/nav_core) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'base_local_planner' -- ==> add_subdirectory(navigation-melodic/base_local_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- base_local_planner: 1 messages, 0 services -- +++ processing catkin package: 'carrot_planner' -- ==> add_subdirectory(navigation-melodic/carrot_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'clear_costmap_recovery' -- ==> add_subdirectory(navigation-melodic/clear_costmap_recovery) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'dwa_local_planner' -- ==> add_subdirectory(navigation-melodic/dwa_local_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'move_slow_and_clear' -- ==> add_subdirectory(navigation-melodic/move_slow_and_clear) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- +++ processing catkin package: 'navfn' -- ==> add_subdirectory(navigation-melodic/navfn) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- navfn: 0 messages, 2 services -- NAVFN_HAVE_FLTK: , NETPBM: 1 -- FLTK orf NETPBM not found: cannot build navtest -- +++ processing catkin package: 'global_planner' -- ==> add_subdirectory(navigation-melodic/global_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'rotate_recovery' -- ==> add_subdirectory(navigation-melodic/rotate_recovery) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'move_base' -- ==> add_subdirectory(navigation-melodic/move_base) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'teb_local_planner' -- ==> add_subdirectory(teb_local_planner-melodic) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- System: Linux-5.3.0-1030-raspi2 -- /opt/ros/melodic/share/cmake_modules/cmake/../../../share/cmake_modules/cmake/Modules;/home/EPRobot/robot_ws/src/teb_local_planner-melodic/cmake_modules -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- graph -- chrono -- date_time -- atomic -- Found SuiteSparse -- Searching for g2o ... -- Found g2o headers in: /opt/ros/melodic/include/g2o -- Found libg2o: /opt/ros/melodic/lib/libg2o_csparse_extension.so;/opt/ros/melodic/lib/libg2o_core.so;/opt/ros/melodic/lib/libg2o_stuff.so;/opt/ros/melodic/lib/libg2o_types_slam2d.so;/opt/ros/melodic/lib/libg2o_types_slam3d.so;/opt/ros/melodic/lib/libg2o_solver_cholmod.so;/opt/ros/melodic/lib/libg2o_solver_pcg.so;/opt/ros/melodic/lib/libg2o_solver_csparse.so;/opt/ros/melodic/lib/libg2o_incremental.so -- teb_local_planner: 3 messages, 0 services -- +++ processing catkin package: 'eprobot_description' -- ==> add_subdirectory(eprobot_description) -- +++ processing catkin package: 'xf_mic_asr_offline' -- ==> add_subdirectory(xf_mic_asr_offline) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- xf_mic_asr_offline: 2 messages, 7 services -- +++ processing catkin package: 'ydlidar' -- ==> add_subdirectory(ydlidar) -- +++ processing catkin package: 'yocs_ar_pair_approach' -- ==> add_subdirectory(yujin_ocs/yocs_ar_pair_approach) -- +++ processing catkin package: 'yocs_cmd_vel_mux' -- ==> add_subdirectory(yujin_ocs/yocs_cmd_vel_mux) -- +++ processing catkin package: 'yocs_controllers' -- ==> add_subdirectory(yujin_ocs/yocs_controllers) -- +++ processing catkin package: 'yocs_keyop' -- ==> add_subdirectory(yujin_ocs/yocs_keyop) -- Could NOT find ecl_threads (missing: ecl_threads_DIR) -- Could not find the required component 'ecl_threads'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "ecl_threads" with any of the following names: ecl_threadsConfig.cmake ecl_threads-config.cmake Add the installation prefix of "ecl_threads" to CMAKE_PREFIX_PATH or set "ecl_threads_DIR" to a directory containing one of the above files. If "ecl_threads" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): yujin_ocs/yocs_keyop/CMakeLists.txt:3 (find_package) -- Configuring incomplete, errors occurred! See also "/home/EPRobot/robot_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/EPRobot/robot_ws/build/CMakeFiles/CMakeError.log". Makefile:9560: recipe for target 'cmake_check_build_system' failed make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash # 在每次打开新终端时运行
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