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Navigation Package

導航：從入門到放棄

實驗平台

  • 雷射測距儀
    • Hokuyo URG-04LX
    • HLDS HLS-LFCD LDS
  • IMU 3D
    • FSM-9
  • ROS kinetic
  • FIRA6B

軟硬體安裝

編譯

  • 編譯前先把hokuyo_node拿出來catkin_make,完成後再放入編譯一次
  • 確定這些package都有安裝 
    $ sudo apt-get install ros-kinetic-hector-map-tools
$ sudo apt-get install ros-kinetic-hector-nav-msgs
$ sudo apt-get install ros-kinetic-dynamixel-controllers
$ sudo apt-get install ros-kinetic-move-base-msgs
$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-dwa-local-planner
$ sudo apt-get install ros-kinetic-urdf-sim-tutorial 
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-amcl
$ sudo apt-get install octovis (3d 地圖)
# check qt version
$ qmake --version
# if Qt version lower than 4
$ sudo apt install qt4-default

Hokuyo URG-04LX

* indigo：
$ sudo apt-get install ros-indigo-hokuyo-node

* kinetic：
$ sudo apt-get install ros-kinetic-urg-node

  • 使用package內的hokuyo_node

  • Permission Problem

    $ sudo vim /etc/udev/rules.d/99-hokuyo.rules

edit or add the following line:
KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", SYMLINK+="sensors/hokuyo"

重新連接USB  
see on /dev/febot/laser & /dev/ttyACM[0-9]
$ ls /dev/sensors/hokuyo

  • 啟動

    $ roslaunch navigation hokuyo_node.launch

HLDS HLS-LFCD LDS

$ sudo apt-get install ros-kinetic-hls-lfcd-lds-driver
$ sudo chmod a+rw /dev/ttyUSB0
  • 啟動 
    $ roslaunch navigation hlds_laser.launch

FSM-9

$ cd src/imu_3d/rule/
$ sudo cp imu.rules /etc/udev/rules.d
打完指令後重新連接USB
  • 啟動 
    $ rosrun imu_3d imu_3d

Motion

  • 啟動

    $ rosrun motion fira6

  • 若更換平台需自行更換motion控制

    • navigation路徑規劃輸出topic name: /cmd_vel
    • navigation座標系與fira足球機器人平台預設座標系不同（x'=y; y'=x）
    • navigation輸出速度大小0-3.0 (max_vel_x)單位m/s
    • fira足球機器人平台建議先調整（乘以30倍）再輸出到馬達,若未調整速度過慢將會無法移動

      • 速度m/s轉換為PWM 大約乘以27.3 (fira6b)

      • 轉換函式

        def ConvertSpeedToPWM(self, x, y):
  reducer = 24
  max_rpm = 7580
  wheel_radius  = 0.11
  circumference = 2 * math.pi * wheel_radius
  _x = (x / circumference * reducer * 60)/max_rpm * 100
  _y = (y / circumference * reducer * 60)/max_rpm * 100
  return _x, _y

  • 馬達控制介面
    motion_ui

    • 開啟rosbridge_websocket後，按上方wifi圖示連線 
      $ roslaunch rosbridge_server rosbridge_websocket.launch
    • 按照圖片更換座標系、topic name、max speed
    • cancel 按鈕用於navigation 取消正在移動的路徑規劃

Hector SLAM

$ roscore
 # motion
$ rosrun motion fira6
$ roslaunch rosbridge_server rosbridge_websocket.launch 
# laser
$ roslaunch navigation hokuyo_node.launch
# slam
$ roslaunch hector_slam_launch test.launch
  • 儲存地圖
    • 地圖會存在Terminal所在目錄 
      $ rosrun map_server map_saver
    • 指定儲存位置 
      $ rosrun map_server map_saver -f /home/iclab/navigaion/src/navigaion/maps/fire_field

SLAM + Navigation

$ roscore
# motion
$ rosrun motion fira6
$ roslaunch rosbridge_server rosbridge_websocket.launch 
# laser
$ roslaunch navigation hokuyo_node.launch
# navigation
$ roslaunch navigation navigation_by_laser_slam.launch
  • 點rviz介面上方 2D Nav Goal定終點位置 按住移動旋轉角度

AMCL + SLAM + Navigation

$ roscore
# motion
$ rosrun motion fira6
$ roslaunch rosbridge_server rosbridge_websocket.launch 
# laser
$ roslaunch navigation hokuyo_node.launch
# amcl+navigation
$ roslaunch navigation amcl_navigation_by_laser_slam.launch
  • 自行替換amcl_navigation_by_laser_slam.launch檔裡面的map檔案路徑
    • 或者在指令內加入arg 
      $ roslaunch navigation amcl_navigation_by_laser_slam.launch map:=${HOME}/navigation/src/navigation/maps/fire_field.yaml

AMCL + odom + Navigation

$ roscore
# motion
$ rosrun motion fira6
$ roslaunch rosbridge_server rosbridge_websocket.launch
# laser 
$ roslaunch navigation hokuyo_node.launch
# odom
$ rosrun imu_3d imu_3d
$ rosrun localization localization_node
# amcl+navigation
$ roslaunch navigation amcl_navigation_by_odom.launch

GAZEBO

slam_navigation

$ roslaunch fira6_gazebo fire_world.launch
  • Hector SLAM 
    # world
$ roslaunch fira6_gazebo fire_world.launch
# for web motion contorl
$ roslaunch rosbridge_server rosbridge_websocket.launch
# hector slam
$ roslaunch hector_slam_launch test.launch
  • SLAM + Navigation 
    # world
$ roslaunch fira6_gazebo fire_world.launch
# for web motion contorl
$ roslaunch rosbridge_server rosbridge_websocket.launch
# navigation
$ roslaunch navigation navigation_by_laser_slam.launch
  • AMCL + SLAM + Navigation 
    # world
$ roslaunch fira6_gazebo fire_world.launch
# for web motion contorl
$ roslaunch rosbridge_server rosbridge_websocket.launch
# navigation
$ roslaunch navigation amcl_navigation_by_laser_slam.launch
  • AMCL + odom + Navigation 
    # world
$ roslaunch fira6_gazebo fire_world.launch odom:=true
# for web motion contorl
$ roslaunch rosbridge_server rosbridge_websocket.launch
# navigation
$ roslaunch navigation amcl_navigation_by_odom.launch

RobotModel替換

用於rviz和gazebo模型顯示
開頭link name請統一base_footprint,用於tf與navigation

urdf.xacro

  <!-- root link, on the ground just below the model origin -->
  <link name="base_footprint">
  <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>
  </link>
  <joint name="world_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_footprint" />
    <child link="scanner_base"/>
  </joint>
  • 如果navigation的rviz介面robotmodel顯示不是在最上面,可以修改world_joint的z軸高度
<origin xyz="0 0 0.3" rpy="0 0 0" />
  • 機器人模型顯示
<!-- the model -->
  <link name="scanner_base">
    <inertial>
      <mass value="50" />
      <origin xyz="0 0.04 -0.48" />
      <inertia ixx="12.75" ixy="0.0"   ixz="0.0"
                          iyy="12.75" iyz="0.0"
                                      izz="1.3225" />
    </inertial>
    <visual>
      <origin xyz="0 0.04 -0.68" rpy="0 0 1.57" />
      <!--origin xyz="0 0 -1.62" rpy="0 0 1.57" /-->
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
      <geometry>
        <mesh filename="package://fira6_description/meshes/robot6th.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.6" radius="0.23" />
      </geometry>
    </collision>
  </link>
  • 在gazebo內修改模型位置

model

gazebo.xacro

  • 設定摩擦力
  <gazebo reference="base_footprint">
    <mu1>0.5</mu1>
    <mu2>0.5</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
  </gazebo>
  • 雷射套件
  <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
    <topicName>/scan</topicName>
    <frameName>laser</frameName>
  </plugin>
  • 移動套件(protobuf3好像無法使用)
    • gazebo內建全向平台套件有問題,會影響模型重力加速度大小(下降變很慢),需要自行替換,可參考fira6_gazebo/src設定k-okada/gazebo_ros_pkgs
<gazebo>
  <plugin name="object_controller" filename="libgazebo_ros_planar_move_fix.so">
    <commandTopic>/cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <odometryRate>20.0</odometryRate>
    <robotBaseFrame>base_footprint</robotBaseFrame>
  </plugin>
</gazebo>

雷射替換

  • 替換雷射記得將雷射frame_id設定為laser
# 參考 navigation/include/hokuyo_node.launch
<param name="frame_id" value="laser"/>

tf替換

  • 修改navigation/launch/include/tf.launch
  • 依照機器人雷射安裝位置的修改tf
<node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser_link" args="0.1 0 0 0 0 0 /base_frame /laser 100"/>

navigation參數替換

  • navigation/param/dwa_local_planner_params_(model).yaml
    • min_vel_x 若設為0,機器人不會倒退移動
    • max_vel_y min_vel_y 若為2輪平台,將y軸方向速度設為0
  • costmap_common_params_(model).yaml
    • footprint 設定機器人邊界 若為圓形平台可設定robot_radius參數
    • inflation_radius 人工力場距離範圍
    • cost_scaling_factor 人工力場的成本參數,愈大路徑規劃愈保守

參考資料

[1] （ROS探索1）UTM-30LX激光雷达安装使用
[2] LDS-01
[3] 机器人描述--URDF和XACRO
[4] List of 3D inertia tensors
[5] k-okada/gazebo_ros_pkgs
[6] hokuyo激光雷達URG-04LX用hector slam算法構建地圖（1）——準備工作
[7] hokuyo激光雷達URG-04LX用hector slam算法構建地圖（2）——整個流程
[8] Turtlebot3 Navigation

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