在树莓派上调试ydlidar x2l的建图和自动导航功能

src/robot_navigation/config/base_local_planner_params.yaml

@@ -2,7 +2,6 @@
 # Author: www.corvin.cn
 # Description:
 #  本地规划配置文件,各参数意义如下：
-#   controller_frequency:计算得到路径以多少频率向cmd_vel发布.
 #   max_vel_x:最大前进速度.
 #   min_vel_x:最小前进速度.
 #   max_vel_y:最大横向移动速度.
@@ -46,7 +45,6 @@ TrajectoryPlannerROS:
    vx_samples: 5
    vy_samples: 3 # omniwheel robot
    vtheta_samples: 12 
-   controller_frequency: 4.0
    
    #Trajectory Scoring Parameters
    meter_scoring: true

src/robot_navigation/launch/amcl_ydlidar.launch

@@ -1,9 +1,9 @@
 <launch>
   <!-- Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/blank_map.yaml" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/mymap.yaml" />
 
   <!-- startup ydlidar node -->
-  <include file="$(find ydlidar)/launch/lidar.launch" />
+  <include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />
 
   <!-- startup move_base node -->
   <include file="$(find robot_navigation)/launch/move_base.launch" />
@@ -14,7 +14,7 @@
 
     <param name="base_frame_id" value="base_footprint"/>
     <param name="global_frame_id" value="map"/>
-    <param name="odom_frame_id" value="odom"/>
+    <param name="odom_frame_id" value="odom_combined"/>
 
     <param name="use_map_topic" value="true"/>
     <param name="odom_alpha5" value="0.1"/>

src/robot_navigation/launch/move_base.launch

@@ -12,7 +12,7 @@
 -->
 <launch>
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
-    <param name="controller_frequency" value="9" />
+    <param name="controller_frequency" value="4" />
     <param name="controller_patiente" value="10" />
 
     <rosparam file="$(find robot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />

src/robot_navigation/rviz/view_navigation.rviz

@@ -1,23 +1,11 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 123
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /TF1/Frames1
-        - /TF1/Tree1
-        - /Global Map1/Planner1
-        - /Local Map1/Planner1
-<<<<<<< HEAD
-        - /Odometry1
-        - /Odometry1/Shape1
-        - /Imu1
-        - /Imu1/Axes properties1
-=======
-        - /Odometry1/Shape1
->>>>>>> 1dfea8ba86879c7d7ea5698413e1aa671262be0d
-      Splitter Ratio: 0.605556011
-    Tree Height: 663
+      Expanded: ~
+      Splitter Ratio: 0.486111104
+    Tree Height: 730
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -42,10 +30,10 @@ Toolbars:
 Visualization Manager:
   Class: ""
   Displays:
-    - Alpha: 0.5
+    - Alpha: 0.699999988
       Cell Size: 1
       Class: rviz/Grid
-      Color: 160; 160; 164
+      Color: 50; 115; 54
       Enabled: true
       Line Style:
         Line Width: 0.0299999993
@@ -57,50 +45,14 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 30
+      Plane Cell Count: 100
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_imu_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        lidar:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
       Frame Timeout: 15
       Frames:
-        All Enabled: false
+        All Enabled: true
         base_footprint:
           Value: true
         base_imu_link:
@@ -113,7 +65,7 @@ Visualization Manager:
           Value: true
         odom_combined:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -124,10 +76,21 @@ Visualization Manager:
             base_footprint:
               base_link:
                 base_imu_link:
-                  lidar:
-                    {}
+                  {}
+                lidar:
+                  {}
       Update Interval: 0
       Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -143,222 +106,68 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
+      Max Intensity: 1016
       Min Color: 0; 0; 0
-      Min Intensity: 47
+      Min Intensity: 1008
       Name: LaserScan
       Position Transformer: XYZ
-      Queue Size: 1000
+      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0199999996
-      Style: Squares
+      Size (m): 0.00999999978
+      Style: Flat Squares
       Topic: /scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 0; 0
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: Bumper Hit
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.0799999982
-      Style: Spheres
-      Topic: /mobile_base/sensors/bumper_pointcloud
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.699999988
-          Class: rviz/Map
-          Color Scheme: costmap
-          Draw Behind: true
-          Enabled: true
-          Name: Costmap
-          Topic: /move_base/global_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
-          Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 255; 0; 0
-          Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
-          Line Style: Lines
-          Line Width: 0.0299999993
-          Name: Planner
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
-          Topic: /move_base/DWAPlannerROS/global_plan
-          Unreliable: false
-          Value: true
+      Class: rviz/RobotModel
+      Collision Enabled: false
       Enabled: true
-      Name: Global Map
-    - Class: rviz/Group
-      Displays:
-        - Alpha: 0.699999988
-          Class: rviz/Map
-          Color Scheme: costmap
-          Draw Behind: false
-          Enabled: true
-          Name: Costmap
-          Topic: /move_base/local_costmap/costmap
-          Unreliable: false
-          Use Timestamp: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
           Value: true
-        - Alpha: 1
-          Buffer Length: 1
-          Class: rviz/Path
-          Color: 0; 12; 255
-          Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
-          Line Style: Lines
-          Line Width: 0.0299999993
-          Name: Planner
-          Offset:
-            X: 0
-            Y: 0
-            Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
-          Topic: /move_base/DWAPlannerROS/local_plan
-          Unreliable: false
+        base_imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
           Value: true
-        - Alpha: 0.800000012
-          Autocompute Intensity Bounds: true
-          Autocompute Value Bounds:
-            Max Value: 10
-            Min Value: -10
-            Value: true
-          Axis: Z
-          Channel Name: total_cost
-          Class: rviz/PointCloud2
-          Color: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 785.049988
-          Min Color: 0; 0; 0
-          Min Intensity: 29.3899994
-          Name: Cost Cloud
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.0399999991
-          Style: Flat Squares
-          Topic: /move_base/DWAPlannerROS/cost_cloud
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
           Value: true
-        - Alpha: 1
-          Autocompute Intensity Bounds: true
-          Autocompute Value Bounds:
-            Max Value: 10
-            Min Value: -10
-            Value: true
-          Axis: Z
-          Channel Name: total_cost
-          Class: rviz/PointCloud2
-          Color: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 9.62100029
-          Min Color: 0; 0; 0
-          Min Intensity: 3.62100005
-          Name: Trajectory Cloud
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.0399999991
-          Style: Flat Squares
-          Topic: /move_base/DWAPlannerROS/trajectory_cloud
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: false
+        lidar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
           Value: true
-      Enabled: true
-      Name: Local Map
-    - Alpha: 1
-      Arrow Length: 0.200000003
-      Axes Length: 0.300000012
-      Axes Radius: 0.00999999978
-      Class: rviz/PoseArray
-      Color: 0; 192; 0
-      Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
-      Name: Amcl Particle Swarm
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
-      Shape: Arrow (Flat)
-      Topic: /particlecloud
-      Unreliable: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
       Value: true
+      Visual Enabled: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz/Path
-      Color: 23; 54; 255
+      Color: 44; 65; 255
       Enabled: true
       Head Diameter: 0.300000012
       Head Length: 0.200000003
       Length: 0.300000012
       Line Style: Lines
       Line Width: 0.0299999993
-      Name: Full Plan
+      Name: Path
       Offset:
         X: 0
         Y: 0
@@ -368,67 +177,50 @@ Visualization Manager:
       Radius: 0.0299999993
       Shaft Diameter: 0.100000001
       Shaft Length: 0.100000001
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/DWAPlannerROS/global_plan
       Unreliable: false
       Value: true
-    - Angle Tolerance: 0.200000003
-      Class: rviz/Odometry
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
-          Value: true
-        Position:
-          Alpha: 0.300000012
-          Color: 204; 51; 204
-          Scale: 1
-          Value: true
-        Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 29; 218
       Enabled: true
-      Keep: 30
-      Name: Odometry
-      Position Tolerance: 0.200000003
-      Shape:
-        Alpha: 0.699999988
-        Axes Length: 1
-        Axes Radius: 0.100000001
-<<<<<<< HEAD
-        Color: 57; 95; 199
-        Head Length: 0.100000001
-        Head Radius: 0.100000001
-        Shaft Length: 0.100000001
-=======
-        Color: 31; 87; 239
-        Head Length: 0.100000001
-        Head Radius: 0.0500000007
-        Shaft Length: 0.150000006
->>>>>>> 1dfea8ba86879c7d7ea5698413e1aa671262be0d
-        Shaft Radius: 0.0500000007
-        Value: Arrow
-      Topic: /odom_ekf
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /move_base/DWAPlannerROS/local_plan
       Unreliable: false
       Value: true
   Enabled: true
   Global Options:
-    Background Color: 48; 48; 48
+    Background Color: 45; 32; 41
     Default Light: true
     Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/MoveCamera
     - Class: rviz/Interact
       Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
     - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Topic: /initialpose
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
-    - Class: rviz/Measure
     - Class: rviz/PublishPoint
       Single click: true
       Topic: /clicked_point
@@ -436,50 +228,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-<<<<<<< HEAD
-      Distance: 6.24388552
-=======
-      Distance: 7.83131266
->>>>>>> 1dfea8ba86879c7d7ea5698413e1aa671262be0d
+      Distance: 10.1466026
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-<<<<<<< HEAD
-        X: -0.350812674
-        Y: 1.04504514
-        Z: -1.69744515
-=======
-        X: 2.21107078
-        Y: 1.08232093
-        Z: 0.0960710421
->>>>>>> 1dfea8ba86879c7d7ea5698413e1aa671262be0d
+        X: 2.60158515
+        Y: 2.26870942
+        Z: -0.278940022
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-<<<<<<< HEAD
-      Pitch: 1.31979465
+      Pitch: 1.56979632
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.0949685201
-=======
-      Pitch: 0.859797716
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 4.52996302
->>>>>>> 1dfea8ba86879c7d7ea5698413e1aa671262be0d
+      Yaw: 4.71866274
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 876
-  Hide Left Dock: true
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000326fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000326000000d700ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000393000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000006400000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -488,6 +263,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1600
-  X: 0
-  Y: 204
+  Width: 1920
+  X: 1600
+  Y: 24