ROS笔记-11 Navigation.txt

导航包含节点： 
	move_base: path planning
	amcl: localization
Navigation 仿真
	$ roscore
	$ roslaunch rbx1_nav fake_nav_test.launch
	
	AMCL without using odomedry (but laser_scan_matcher instead)
		http://answers.ros.org/question/30124/amcl-without-using-odomedry-but-laser_scan_matcher-instead/
		
		amcl transforms incoming laser scans to the odometry frame (~odom_frame_id). 
		So there must exist a path through the tf tree 
								from the frame in which the laser scans are published to the odometry frame.
	
fake_nav_test.launch:
	<launch>

		<param name="use_sim_time" value="false" />

		<!-- Start the ArbotiX controller -->
		<include file="$(find rbx1_bringup)/launch/fake_turtlebot.launch" />

		<!-- Run the map server with the desired map -->
		<node name="map_server" pkg="map_server" type="map_server" args="$(find rbx1_nav)/maps/test_map.yaml"/>

		<!-- The move_base node -->
		<node pkg="move_base" type="move_base" respawn="false" name="move_base" clear_params="true" output="screen">
		  <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
		  <rosparam file="$(find rbx1_nav)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
		  <rosparam file="$(find rbx1_nav)/config/fake/local_costmap_params.yaml" command="load" />
		  <rosparam file="$(find rbx1_nav)/config/fake/global_costmap_params.yaml" command="load" />
		  <rosparam file="$(find rbx1_nav)/config/fake/base_local_planner_params.yaml" command="load" />
		  <rosparam file="$(find rbx1_nav)/config/nav_test_params.yaml" command="load" />
		</node>
		
		<!-- Run fake localization compatible with AMCL output -->
		<node pkg="fake_localization" type="fake_localization" name="fake_localization" output="screen" />
		<!-- For fake localization we need static transform between /odom and /map -->
		<node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />
		
		
		<!-- Start the navigation test -->
		<node pkg="rbx1_nav" type="nav_test.py" name="nav_test" output="screen">
		  <param name="rest_time" value="1" />
		  <param name="fake_test" value="true" />
		</node>
		
	</launch>
	
	$ rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz
	
Navigation on Real
	$ roscore
	
	robot setup
	$ roslaunch rbx1_bringup turtlebot_minimal_create.launch 
	
	generate /scan
	$ roslaunch rbx1_bringup turtlebot_fake_laser_freenect.launch
	
	map_server, amcl and move_base
	$ roslaunch rbx1_nav tb_nav_test.launch map:=test_map.yaml
	
	$ rosrun rviz rviz -d `rospack find rbx1_nav`/nav_test.rviz