新增hector mapping建图

src/robot_bringup/launch/robot_bringup.launch

@@ -10,6 +10,5 @@
 
     <!-- (2) startup mobilebase arduino launch -->
     <include file="$(find ros_arduino_python)/launch/arduino.launch" />
-
 </launch>
 

src/robot_navigation/launch/hector_mapping.launch

@@ -0,0 +1,58 @@
+<!--
+  Copyright: 2016-2018 www.corvin.cn
+  Author: corvin
+  Description: In stdr simulator hector mapping.
+  History:
+    20180601: initial this file.
+-->
+<launch>
+  <arg name="map_scanmatch_frame_name" default="scanmatcher_frame"/>
+  <arg name="pub_map_odom_transform"   default="true"/>
+  <arg name="scan_queue_size"          default="10"/>
+  <arg name="base_frame" default="/base_link" />
+  <arg name="odom_frame" default="/odom" />
+  <arg name="scan_topic" default="/scan" />
+  <arg name="map_topic"  default="/hector_map" />
+  <arg name="map_size"   default="512" />
+
+
+  <node pkg="hector_mapping" type="hector_mapping" name="stdr_hector_mapping" output="screen">
+    <remap from="map"  to="$(arg map_topic)"  />
+
+    <!-- Frame names -->
+    <param name="map_frame"  value="/map_static" />
+    <param name="base_frame" value="$(arg base_frame)" />
+    <param name="odom_frame" value="$(arg odom_frame)" />
+
+    <!-- Map resolution/size/start point -->
+    <param name="map_resolution" value="0.04"/>
+    <param name="map_size"       value="$(arg map_size)"/>
+    <param name="map_start_x"    value="0.2" />
+    <param name="map_start_y"    value="0.2" />
+
+    <!-- Map update parameters -->
+    <param name="map_update_distance_thresh" value="0.45" />
+    <param name="map_update_angle_thresh"    value="0.30" />
+    <param name="map_pub_period"             value="2.2" />
+    <param name="map_multi_res_levels"       value="2" />
+    <param name="update_factor_free"         value="0.4" />
+    <param name="update_factor_occupied"     value="0.9" />
+
+    <!-- lidar laser parameters -->
+    <param name="scan_topic"         value="$(arg scan_topic)" />
+    <param name="laser_min_dist"     value="0.06" />
+    <param name="laser_max_dist"     value="4.09" />
+    <param name="laser_z_min_value"  value="-1.0" />
+    <param name="laser_z_max_value"  value="1.0" />
+
+    <param name="output_timing"              value="false"/>
+    <param name="scan_subscriber_queue_size" value="$(arg scan_queue_size)"/>
+    <param name="pub_map_odom_transform"     value="$(arg pub_map_odom_transform)"/>
+
+    <param name="advertise_map_service"      value="true" />
+    <param name="use_tf_scan_transformation" value="true" />
+    <param name="use_tf_pose_start_estimate" value="true" />
+    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg map_scanmatch_frame_name)" />
+  </node>
+</launch>
+

src/robot_navigation/launch/hector_mapping_view.launch

@@ -0,0 +1,4 @@
+<launch>
+   <!-- startup rviz to show hector mapping process -->
+  <node name="rviz" type="rviz" pkg="rviz" args="-d $(find robot_navigation)/rviz/hector_view.rviz" />
+</launch>

src/robot_navigation/launch/move_base.launch

@@ -12,11 +12,11 @@
 -->
 <launch>
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
-    <rosparam file="$(find carebot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find carebot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find carebot_navigation)/config/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find carebot_navigation)/config/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find carebot_navigation)/config/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find robot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find robot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find robot_navigation)/config/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find robot_navigation)/config/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find robot_navigation)/config/base_local_planner_params.yaml" command="load" />
     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
   </node>
 </launch>

src/robot_navigation/rviz/hector_view.rviz

@@ -0,0 +1,214 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 359
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 6
+        Y: 6
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 30
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /hector_map
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 0.3
+      Axes Radius: 0.1
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.3
+      Head Radius: 0.1
+      Name: Pose
+      Shaft Length: 1
+      Shaft Radius: 0.05
+      Shape: Axes
+      Topic: /slam_out_pose
+      Unreliable: false
+      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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      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: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /robot0/laser_0
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        map:
+          Value: true
+        map_static:
+          Value: true
+        robot0:
+          Value: true
+        robot0_laser_0:
+          Value: false
+        robot0_sonar_0:
+          Value: false
+        robot0_sonar_1:
+          Value: false
+        robot0_sonar_2:
+          Value: false
+        robot0_sonar_3:
+          Value: false
+        robot0_sonar_4:
+          Value: false
+        scanmatcher_frame:
+          Value: true
+        world:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          map:
+            map_static:
+              robot0:
+                robot0_laser_0:
+                  {}
+                robot0_sonar_0:
+                  {}
+                robot0_sonar_1:
+                  {}
+                robot0_sonar_2:
+                  {}
+                robot0_sonar_3:
+                  {}
+                robot0_sonar_4:
+                  {}
+            scanmatcher_frame:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - 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/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 18.6196
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 7.77633
+        Y: 6.49206
+        Z: -0.394941
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.28976
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.69359
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1056
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000007800000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 24