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基于[移动机器人运动规划及运动仿真]，详见之前的博客

移动机器人运动规划及运动仿真 - zylyehuo - 博客园

参考链接

Autolabor-ROS机器人入门课程《ROS理论与实践》

环境配置

ubuntu 18.04

成果图

编写 launch 文件

mycar_ws/src/nav_demo/launch/nav01_slam_plus.launch

<launch>
    <!-- 仿真环境下，将该参数设置为true  -->
    <param name="use_sim_time" value="true"/>
    <!-- gmapping  -->
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
      <!-- 设置雷达话题  -->
      <remap from="scan" to="scan"/>

      <!-- 关键参数：坐标系 -->
      <param name="base_frame" value="base_footprint"/><!--底盘坐标系-->
      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/> <!--里程计坐标系-->

      <param name="map_update_interval" value="5.0"/>
      <param name="maxUrange" value="16.0"/>
      <param name="sigma" value="0.05"/>
      <param name="kernelSize" value="1"/>
      <param name="lstep" value="0.05"/>
      <param name="astep" value="0.05"/>
      <param name="iterations" value="5"/>
      <param name="lsigma" value="0.075"/>
      <param name="ogain" value="3.0"/>
      <param name="lskip" value="0"/>
      <param name="srr" value="0.1"/>
      <param name="srt" value="0.2"/>
      <param name="str" value="0.1"/>
      <param name="stt" value="0.2"/>
      <param name="linearUpdate" value="1.0"/>
      <param name="angularUpdate" value="0.5"/>
      <param name="temporalUpdate" value="3.0"/>
      <param name="resampleThreshold" value="0.5"/>
      <param name="particles" value="30"/>
      <param name="xmin" value="-50.0"/>
      <param name="ymin" value="-50.0"/>
      <param name="xmax" value="50.0"/>
      <param name="ymax" value="50.0"/>
      <param name="delta" value="0.05"/>
      <param name="llsamplerange" value="0.01"/>
      <param name="llsamplestep" value="0.01"/>
      <param name="lasamplerange" value="0.005"/>
      <param name="lasamplestep" value="0.005"/>
      
    </node>

    <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />
    <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" />

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find nav_demo)/config/nav_test.rviz"/>
    
</launch>

mycar_ws/src/nav_demo/launch/nav07_slam_auto.launch

<!-- 集成SLAM与导航，实现机器人自主移动的地图 -->
<launch>

    <!-- 启动SLAM节点 -->
    <include file="$(find nav_demo)/launch/nav01_slam_plus.launch" />
    
    <!-- 运行move_base节点 -->
    <include file="$(find nav_demo)/launch/nav05_path.launch" />

</launch>

编译+启动 gazebo 仿真环境

source ./devel/setup.bash 

roslaunch mycar environment.launch

编译+启动 rviz

source ./devel/setup.bash 

roslaunch nav_demo nav06_test.launch

配置 rviz

运行测试