move_base

最新推荐文章于 2025-07-05 23:36:20 发布
最新推荐文章于 2025-07-05 23:36:20 发布
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分类专栏： ROS
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本文链接：https://blog.youkuaiyun.com/weixin_42018112/article/details/87637622

机器人导航与定位的系统架构：

  • 最底层
    机器人本身的电机驱动部分，该部分通过串口接收电脑端输出的左右轮期望速度，对左右轮分别进行PID控速。同时，定时采样电机码盘值，并转化为左右轮速度值通过串口上传给电脑。当然PID控速这一部分也可以放到电脑ROS端，这样的话，电脑串口输出的是直接的PWM值而不是之前的期望速度了。
  • 通信层
    电脑端和底层电机的控制通信，以及将传感器信息发布给ROS的通信。这一层主要通过串口(ROS已经集成了pyserial 用python操作这个模块进行串口控制)收集左右轮速度值，用航迹推演法将左右轮速度转化为机器人的x轴方向速度和机器人的旋转速度，然后发布/odom主题，好让ROS的相应package收到这个消息，进行机器人位置的估计。同时，这一部分还要关注ROS相应部分发出的机器人控制指令，转化为左右轮的期望速度，再通过串口传给底层。这一层是自己写程序完成。
  • 决策层
    就是与导航有关的了，建立地图和定位，然后用move_base根据你发布的传感器信息做出路径规划以及机器人的速度和转向控制。这一部分为ROS相应的package已经完成，我们只需要调用即可。

move_base package介绍：

ROS提供的move_base包让我们能够在已建立好的地图中指定目标位置和方向后，move_base根据机器人的传感器信息控制机器人到达我们想要的目标位置。
move_base的架构：
在这里插入图片描述
由图中我们可以看出move_base包需要的输入和输出。

  • 必要的输入
    goal: 期望机器人在地图
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/amcl/transform_tolerance: 0.5 * /amcl/update_min_a: 0.05 * /amcl/update_min_d: 0.05 * /amcl/use_map_topic: True * /base_control/base_kd: 0.0 * /base_control/base_ki: 100.0 * /base_control/base_kp: 1000.0 * /base_control/base_kv: 1.0 * /base_control/is_send_anger: false * /camera_uri: http://192.168.3.... * /ekf_se/base_link_frame: /base_footprint * /ekf_se/debug: False * /ekf_se/debug_out_file: /path/to/debug/fi... * /ekf_se/frequency: 30 * /ekf_se/imu0: /imu_data * /ekf_se/imu0_config: [False, False, Fa... * /ekf_se/imu0_differential: False * /ekf_se/imu0_nodelay: True * /ekf_se/imu0_pose_rejection_threshold: 0.8 * /ekf_se/imu0_queue_size: 8 * /ekf_se/imu0_relative: True * /ekf_se/imu0_remove_gravitational_acceleration: True * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ekf_se/map_frame: /map * /ekf_se/odom0: /odom * /ekf_se/odom0_config: [False, False, Fa... * /ekf_se/odom0_differential: False * /ekf_se/odom0_nodelay: True * /ekf_se/odom0_queue_size: 5 * /ekf_se/odom0_relative: True * /ekf_se/odom_frame: /odom * /ekf_se/print_diagnostics: True * /ekf_se/process_noise_covariance: [0.01, 0, 0, 0, 0... * /ekf_se/publish_acceleration: True * /ekf_se/publish_tf: True * /ekf_se/sensor_timeout: 0.025 * /ekf_se/transform_time_offset: 0.0001 * /ekf_se/transform_timeout: 0.025 * /ekf_se/two_d_mode: True * /ekf_se/world_frame: /odom * /image_view/autosize: True * /laser_filter/scan_filter_chain: [{'type': 'laser_... * /lslidar_driver_node/angle_disable_max: 0 * /lslidar_driver_node/angle_disable_min: 0 * /lslidar_driver_node/compensation: False * /lslidar_driver_node/frame_id: base_laser_link * /lslidar_driver_node/high_reflection: False * /lslidar_driver_node/interface_selection: serial * /lslidar_driver_node/lidar_name: M10 * /lslidar_driver_node/max_range: 100.0 * /lslidar_driver_node/min_range: 0.1 * /lslidar_driver_node/pubPointCloud2: False * /lslidar_driver_node/pubScan: True * /lslidar_driver_node/scan_topic: scan * /lslidar_driver_node/serial_port: /dev/EPRobot_laser * /lslidar_driver_node/use_gps_ts: False * /map_server/frame_id: map * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.3 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2 * /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True * /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False * /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1 * /move_base/TebLocalPlannerROS/dt_ref: 0.3 * /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.2 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False * /move_base/TebLocalPlannerROS/enable_multithreading: True * /move_base/TebLocalPlannerROS/exact_arc_length: False * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.1, 0.0] * /move_base/TebLocalPlannerROS/footprint_model/type: line * /move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 0.5 * /move_base/TebLocalPlannerROS/free_goal_vel: False * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True * /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 3.0 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True * /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True * /move_base/TebLocalPlannerROS/inflation_dist: 0.35 * /move_base/TebLocalPlannerROS/is_footprint_dynamic: False * /move_base/TebLocalPlannerROS/legacy_obstacle_association: False * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 10.0 * /move_base/TebLocalPlannerROS/max_number_classes: 2 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0 * /move_base/TebLocalPlannerROS/max_vel_x: 0.6 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.3 * /move_base/TebLocalPlannerROS/max_vel_y: 0.0 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.55 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.6 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4 * /move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 * /move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 * /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 5.5 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15 * /move_base/TebLocalPlannerROS/odom_topic: odom * /move_base/TebLocalPlannerROS/optimization_activate: True * /move_base/TebLocalPlannerROS/optimization_verbose: False * /move_base/TebLocalPlannerROS/oscillation_recovery: True * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.08 * /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 * /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False * /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 * /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 * /move_base/TebLocalPlannerROS/shrink_horizon_backup: True * /move_base/TebLocalPlannerROS/simple_exploration: False * /move_base/TebLocalPlannerROS/teb_autosize: True * /move_base/TebLocalPlannerROS/via_points_ordered: False * /move_base/TebLocalPlannerROS/visualize_hc_graph: False * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 * /move_base/TebLocalPlannerROS/weight_adapt_factor: 1.0 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 100 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.6 * /move_base/TebLocalPlannerROS/weight_inflation: 1.0 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 800 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 6.0 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2 * /move_base/TebLocalPlannerROS/weight_obstacle: 190 * /move_base/TebLocalPlannerROS/weight_optimaltime: 15 * /move_base/TebLocalPlannerROS/weight_shortest_path: 5.0 * /move_base/TebLocalPlannerROS/weight_viapoint: 10.0 * /move_base/TebLocalPlannerROS/wheelbase: 0.3 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1 * /move_base/base_local_planner: teb_local_planner... * /move_base/clearing_rotation_allowed: False * /move_base/conservative_reset_dist: 0.2 * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 15.0 * /move_base/global_costmap/footprint: [[-0.18, -0.18], ... * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/global_costmap/inflation_radius: 0.4 * /move_base/global_costmap/laser_scan_sensor/clearing: True * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/global_costmap/laser_scan_sensor/marking: True * /move_base/global_costmap/laser_scan_sensor/topic: scan * /move_base/global_costmap/map_type: costmap * /move_base/global_costmap/observation_sources: laser_scan_sensor * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/global_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/global_costmap/obstacle_layer/track_unknown_space: False * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 5.0 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_layer/map_topic: /map * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 5.0 * /move_base/local_costmap/cost_scaling_factor: 10 * /move_base/local_costmap/footprint: [[-0.18, -0.18], ... * /move_base/local_costmap/global_frame: map * /move_base/local_costmap/height: 3 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.3 * /move_base/local_costmap/inflation_radius: 0.16 * /move_base/local_costmap/laser_scan_sensor/clearing: True * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan * /move_base/local_costmap/laser_scan_sensor/marking: True * /move_base/local_costmap/laser_scan_sensor/topic: scan * /move_base/local_costmap/map_type: costmap * /move_base/local_costmap/observation_sources: laser_scan_sensor * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.2 * /move_base/local_costmap/obstacle_layer/obstacle_range: 6.5 * /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0 * /move_base/local_costmap/obstacle_layer/track_unknown_space: False * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 5.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_layer/map_topic: /map * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 3 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.13 * /time0: 5.0 * /time1: 15.0 * /time2: 2.0 * /time3: 10.0 * /time4: 2.0 * /time5: 5.0 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/color_format: yuv422p * /usb_cam/image_height: 960 * /usb_cam/image_width: 1280 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: yuyv * /usb_cam/video_device: /dev/video0 NODES / amcl (amcl/amcl) base_control (eprobot_start/art_racecar.py) base_to_camera (tf/static_transform_publisher) base_to_gyro (tf/static_transform_publisher) base_to_laser (tf/static_transform_publisher) base_to_link (tf/static_transform_publisher) ekf_se (robot_localization/ekf_localization_node) image_view (image_view/image_view) joint_state_publisher (joint_state_publisher/joint_state_publisher) laser_filter (laser_filters/scan_to_scan_filter_chain) lslidar_driver_node (lslidar_driver/lslidar_driver_node) map_server (map_server/map_server) move_base (move_base/move_base) one_car_start (eprobot_start/one_car_start.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) usb_cam (usb_cam/usb_cam_node) auto-starting new master process[master]: started with pid [2469] ROS_MASTER_URI=http://EPRobot:11311 setting /run_id to 9641654e-6234-11f0-a6b3-e45f0131f240 process[rosout-1]: started with pid [2498] started core service [/rosout] process[usb_cam-2]: started with pid [2502] process[image_view-3]: started with pid [2519] [ INFO] [1752663855.296181382]: Initializing nodelet with 4 worker threads. [ INFO] [1752663855.480798436]: using default calibration URL [ INFO] [1752663855.484462140]: camera calibration URL: file:///home/EPRobot/.ros/camera_info/head_camera.yaml [ INFO] [1752663855.491997843]: Starting 'head_camera' (/dev/video0) at 1280x960 via mmap (yuyv) at 30 FPS [ INFO] [1752663855.661129732]: Using transport "raw" Unable to init server: Could not connect: Connection refused (image_raw:2519): Gtk-WARNING **: 19:04:15.720: cannot open display: [ WARN] [1752663855.904948901]: unknown control 'focus_auto' process[base_to_link-4]: started with pid [2537] [image_view-3] process has died [pid 2519, exit code 1, cmd /opt/ros/melodic/lib/image_view/image_view image:=/usb_cam/image_raw __name:=image_view __log:=/home/EPRobot/.ros/log/9641654e-6234-11f0-a6b3-e45f0131f240/image_view-3.log]. log file: /home/EPRobot/.ros/log/9641654e-6234-11f0-a6b3-e45f0131f240/image_view-3*.log process[base_to_gyro-5]: started with pid [2556] process[base_to_laser-6]: started with pid [2562] process[base_to_camera-7]: started with pid [2583] process[joint_state_publisher-8]: started with pid [2604] process[robot_state_publisher-9]: started with pid [2610] /opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[base_control-10]: started with pid [2618] process[lslidar_driver_node-11]: started with pid [2647] [ INFO] [1752663866.105583696]: Lidar is M10 [ INFO] [1752663866.111040782]: Opening PCAP file port = /dev/EPRobot_laser, baud_rate = 460800 open_port /dev/EPRobot_laser OK ! [ INFO] [1752663866.125467287]: Initialised lslidar without error process[laser_filter-12]: started with pid [2676] [ INFO] [1752663867.962878802]: clear_inside(!invert): true [INFO] [1752663869.073894]: base control start... process[map_server-13]: started with pid [2683] [INFO] [1752663869.127131]: LaserMode : Express [INFO] [1752663869.131959]: is_pub_odom_tf : false [INFO] [1752663869.138982]: is_send_anger : false [INFO] [1752663869.144625]: Opening Serial [INFO] [1752663869.150115]: Serial Open Succeed process[amcl-14]: started with pid [2718] [ INFO] [1752663871.037123474]: Subscribed to map topic. process[move_base-15]: started with pid [2774] process[ekf_se-16]: started with pid [2814] ERROR: cannot launch node of type [eprobot_start/one_car_start.py]: Cannot locate node of type [one_car_start.py] in package [eprobot_start]. Make sure file exists in package path and permission is set to executable (chmod +x) [ WARN] [1752663879.396290450]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.100705 timeout was 0.1. [ INFO] [1752663880.901153484]: Received a 113 X 155 map @ 0.050 m/pix [ INFO] [1752663880.938459111]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1752663881.063300341]: Done initializing likelihood field model. [ WARN] [1752663883.460416017]: Transform from IMU_link to base_footprint was unavailable for the time requested. Using latest instead. [ WARN] [1752663884.436037594]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100968 timeout was 0.1. [ WARN] [1752663886.469901598]: No laser scan received (and thus no pose updates have been published) for 1752663886.469788 seconds. Verify that data is being published on the /scan_filtered topic. [ WARN] [1752663887.516970206]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752663887.518994345]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752663887.523573417]: global_costmap: Using plugin "static_layer" [ INFO] [1752663887.657142563]: Requesting the map... [ INFO] [1752663889.166172394]: Resizing costmap to 113 X 155 at 0.050000 m/pix [ INFO] [1752663889.265445621]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752663889.280243055]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1752663889.298549771]: Subscribed to Topics: [ INFO] [1752663889.349325212]: global_costmap: Using plugin "inflation_layer" [ WARN] [1752663889.545199085]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1752663889.547135725]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1752663889.551484224]: local_costmap: Using plugin "static_layer" [ INFO] [1752663889.571839522]: Requesting the map... [ INFO] [1752663889.577998384]: Resizing static layer to 113 X 155 at 0.050000 m/pix [ INFO] [1752663889.677619257]: Received a 113 X 155 map at 0.050000 m/pix [ INFO] [1752663889.693015967]: local_costmap: Using plugin "obstacle_layer" [ INFO] [1752663889.706179575]: Subscribed to Topics: [ INFO] [1752663889.742291675]: local_costmap: Using plugin "inflation_layer" [ INFO] [1752663889.976098453]: Created local_planner teb_local_planner/TebLocalPlannerROS [ INFO] [1752663890.170609667]: Footprint model 'line' (line_start: [-0.1,0]m, line_end: [0.1,0]m) loaded for trajectory optimization. [ INFO] [1752663890.172065624]: Parallel planning in distinctive topologies disabled. [ INFO] [1752663890.172326715]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. [ INFO] [1752663891.088227612]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752663891.107617471]: Recovery behavior will clear layer 'obstacles' [ INFO] [1752663891.666258229]: odom received!
最新发布
07-17
- 缺少依赖包（如`move_base_msgs`）。 - 头文件路径错误（如`gazebo_version_helpers`的include路径不存在）。 **解决方法**： - 确保所有依赖包已安装。例如，如果缺少`move_base_msgs`，使用以下命令安装： ```...
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