新增amcl自动导航

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="$(find robot_navigation)/maps/mymap.yaml" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/blank_map.yaml" />
 
   <!-- startup ydlidar node -->
-  <include file="$(find ydlidar)/launch/ydlidar.launch" />
+  <include file="$(find ydlidar)/launch/lidar.launch" />
 
   <!-- startup move_base node -->
   <include file="$(find robot_navigation)/launch/move_base.launch" />

src/robot_navigation/launch/view_navigation.launch

@@ -2,5 +2,5 @@
   Used for visualising the robot while building a map or navigating with the ros navistack.
  -->
 <launch>
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find carebot_navigation)/rviz/view_navigation.rviz"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_navigation)/rviz/view_navigation.rviz"/>
 </launch>

src/robot_navigation/rviz/view_navigation.rviz

@@ -9,8 +9,8 @@ Panels:
         - /Global Map1/Planner1
         - /Local Map1/Planner1
         - /Imu1/Axes properties1
-      Splitter Ratio: 0.605556
-    Tree Height: 772
+      Splitter Ratio: 0.605556011
+    Tree Height: 359
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,7 +19,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679
+    Splitter Ratio: 0.588679016
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -30,6 +30,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: LaserScan
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -39,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.0299999993
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -66,17 +68,12 @@ Visualization Manager:
           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
-        laser:
+        lidar:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -94,19 +91,15 @@ Visualization Manager:
         All Enabled: false
         base_footprint:
           Value: true
-        base_imu_link:
-          Value: true
         base_link:
           Value: true
-        laser:
+        lidar:
           Value: true
         map:
           Value: true
         odom:
           Value: true
-        odom_combined:
-          Value: true
-      Marker Scale: 0.3
+      Marker Scale: 0.300000012
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -114,12 +107,10 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            odom_combined:
-              base_footprint:
-                base_link:
-                  base_imu_link:
-                    laser:
-                      {}
+            base_footprint:
+              base_link:
+                lidar:
+                  {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -137,15 +128,15 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
+      Max Intensity: 253
       Min Color: 0; 0; 0
-      Min Intensity: 47
+      Min Intensity: 252
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 1000
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.02
+      Size (m): 0.0199999996
       Style: Squares
       Topic: /scan
       Unreliable: false
@@ -175,14 +166,14 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.08
+      Size (m): 0.0799999982
       Style: Spheres
       Topic: /mobile_base/sensors/bumper_pointcloud
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Alpha: 0.7
+    - Alpha: 0.699999988
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
@@ -190,10 +181,11 @@ Visualization Manager:
       Name: Map
       Topic: /map
       Unreliable: false
+      Use Timestamp: false
       Value: true
     - Class: rviz/Group
       Displays:
-        - Alpha: 0.7
+        - Alpha: 0.699999988
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
@@ -201,17 +193,18 @@ Visualization Manager:
           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: 0.3
-          Head Length: 0.2
-          Length: 0.3
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
           Line Style: Lines
-          Line Width: 0.03
+          Line Width: 0.0299999993
           Name: Planner
           Offset:
             X: 0
@@ -219,9 +212,9 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.03
-          Shaft Diameter: 0.1
-          Shaft Length: 0.1
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
           Topic: /move_base/DWAPlannerROS/global_plan
           Unreliable: false
           Value: true
@@ -229,7 +222,7 @@ Visualization Manager:
       Name: Global Map
     - Class: rviz/Group
       Displays:
-        - Alpha: 0.7
+        - Alpha: 0.699999988
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -237,17 +230,18 @@ Visualization Manager:
           Name: Costmap
           Topic: /move_base/local_costmap/costmap
           Unreliable: false
+          Use Timestamp: false
           Value: true
         - Alpha: 1
           Buffer Length: 1
           Class: rviz/Path
           Color: 0; 12; 255
           Enabled: true
-          Head Diameter: 0.3
-          Head Length: 0.2
-          Length: 0.3
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
           Line Style: Lines
-          Line Width: 0.03
+          Line Width: 0.0299999993
           Name: Planner
           Offset:
             X: 0
@@ -255,13 +249,13 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.03
-          Shaft Diameter: 0.1
-          Shaft Length: 0.1
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
           Topic: /move_base/DWAPlannerROS/local_plan
           Unreliable: false
           Value: true
-        - Alpha: 0.8
+        - Alpha: 0.800000012
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
             Max Value: 10
@@ -276,15 +270,15 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 785.05
+          Max Intensity: 785.049988
           Min Color: 0; 0; 0
-          Min Intensity: 29.39
+          Min Intensity: 29.3899994
           Name: Cost Cloud
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
           Size (Pixels): 3
-          Size (m): 0.04
+          Size (m): 0.0399999991
           Style: Flat Squares
           Topic: /move_base/DWAPlannerROS/cost_cloud
           Unreliable: false
@@ -306,15 +300,15 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 9.621
+          Max Intensity: 9.62100029
           Min Color: 0; 0; 0
-          Min Intensity: 3.621
+          Min Intensity: 3.62100005
           Name: Trajectory Cloud
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
           Size (Pixels): 3
-          Size (m): 0.04
+          Size (m): 0.0399999991
           Style: Flat Squares
           Topic: /move_base/DWAPlannerROS/trajectory_cloud
           Unreliable: false
@@ -323,11 +317,19 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: Local Map
-    - Arrow Length: 0.2
+    - 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
       Value: true
@@ -336,11 +338,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 23; 54; 255
       Enabled: true
-      Head Diameter: 0.3
-      Head Length: 0.2
-      Length: 0.3
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
       Line Style: Lines
-      Line Width: 0.03
+      Line Width: 0.0299999993
       Name: Full Plan
       Offset:
         X: 0
@@ -348,21 +350,45 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.03
-      Shaft Diameter: 0.1
-      Shaft Length: 0.1
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
       Topic: /move_base/NavfnROS/plan
       Unreliable: false
       Value: true
-    - Angle Tolerance: 0.2
+    - Angle Tolerance: 0.200000003
       Class: rviz/Odometry
-      Color: 255; 25; 0
+      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
       Enabled: true
       Keep: 30
-      Length: 0.1
       Name: Odometry
-      Position Tolerance: 0.20
+      Position Tolerance: 0.200000003
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.100000001
+        Color: 255; 25; 0
+        Head Length: 0.300000012
+        Head Radius: 0.100000001
+        Shaft Length: 1
+        Shaft Radius: 0.0500000007
+        Value: Arrow
       Topic: /odom_ekf
+      Unreliable: false
       Value: true
     - Acceleration properties:
         Acc. vector alpha: 1
@@ -377,9 +403,9 @@ Visualization Manager:
         Box alpha: 1
         Box color: 79; 162; 86
         Enable box: true
-        x_scale: 0.05
-        y_scale: 0.05
-        z_scale: 0.05
+        x_scale: 0.0500000007
+        y_scale: 0.0500000007
+        z_scale: 0.0500000007
       Class: rviz_imu_plugin/Imu
       Enabled: true
       Name: Imu
@@ -390,6 +416,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: map
     Frame Rate: 30
   Name: root
@@ -410,30 +437,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.38625
+      Distance: 21.2202759
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.139352
-        Y: 0.0293079
-        Z: 0.306362
+        X: -7.59059811
+        Y: -0.358938813
+        Z: 0.18467477
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.444795
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.25979471
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.719969
+      Yaw: 1.48496842
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 985
+  Height: 876
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000393fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000393000000dd00ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000006900000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000393fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000393000000d700ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000393000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000006400000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -442,6 +472,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1680
-  X: -10
-  Y: 14
+  Width: 1600
+  X: 0
+  Y: 24