这是LZ在Pioneer3at上运行gmapping的一个教程,首先假设小伙伴已经成功在自己的机器人上运行了move_base部分,然后接着上篇博客继续.首先还是启动对应机器人的launch文件roslaunch felaim_2dnav felaim_robot.launch因为LZ不想依靠更多的传感器,只能依靠kinect,所以要把kinect采集到的转换成激光数据,所以启动的节点是先连接kinect,然后运行depthimage_to_laser节点,转化成laser数据.roslaunch felaim_2dnav pioneer3at_fake_laser_freenect.launch对fake_laser进行可视化显示,我们可以使用rosrun rviz rviz -d rospack find felaim_2dnav/launch/fake_laser.rviz具体的显示结果如下图所示:我们接下来要运行gmapping部分了roslaunch felaim_2dnav gmapping_demo.launchgmapping_demo.launchlaunch include file$(find felaim_2dnav)/launch/gmapping.launch/ include file$(find felaim_2dnav)/launch/tb_move_base.launch/ /launchgmapping.launchlaunch arg namescan_topic defaultscan / node pkggmapping typeslam_gmapping nameslam_gmapping outputscreen clear_paramstrue param nameodom_frame valueodom/ param namemap_update_interval value30.0/ !-- Set maxUrange actual maximum range of the Laser -- param namemaxRange value5.0/ param namemaxUrange value4.5/ param namesigma value0.05/ param namekernelSize value1/ param namelstep value0.05/ param nameastep value0.05/ param nameiterations value5/ param namelsigma value0.075/ param nameogain value3.0/ param namelskip value0/ param namesrr value0.01/ param namesrt value0.02/ param namestr value0.01/ param namestt value0.02/ param namelinearUpdate value0.5/ param nameangularUpdate value0.436/ param nametemporalUpdate value-1.0/ param nameresampleThreshold value0.5/ param nameparticles value80/ !-- param namexmin value-50.0/ param nameymin value-50.0/ param namexmax value50.0/ param nameymax value50.0/ make the starting size small for the benefit of the Android clients memory... -- param namexmin value-1.0/ param nameymin value-1.0/ param namexmax value1.0/ param nameymax value1.0/ param namedelta value0.05/ param namellsamplerange value0.01/ param namellsamplestep value0.01/ param namelasamplerange value0.005/ param namelasamplestep value0.005/ remap fromscan to$(arg scan_topic)/ /node /launchtb_move_base.launchlaunch node pkgmove_base typemove_base respawnfalse namemove_base outputscreen clear_paramstrue rosparam file$(find felaim_2dnav)/config/costmap_common_params.yaml commandload nsglobal_costmap / rosparam file$(find felaim_2dnav)/config/costmap_common_params.yaml commandload nslocal_costmap / rosparam file$(find felaim_2dnav)/config/local_costmap_params.yaml commandload / rosparam file$(find felaim_2dnav)/config/global_costmap_params.yaml commandload / rosparam file$(find felaim_2dnav)/config/base_local_planner_params.yaml commandload / /node /launchLZ这里贴出了主要的launch文件,小伙伴们需要根据自己实际的情况进行修改LZ这里提供一个键盘控制机器人运动的c代码,用catkin_make编译通过就可使用#include ros/ros.h #include geometry_msgs/Twist.h #include signal.h #include termios.h #include stdio.h #define KEYCODE_R 0x43 #define KEYCODE_L 0x44 #define KEYCODE_U 0x41 #define KEYCODE_D 0x42 #define KEYCODE_A 0x61 #define KEYCODE_Z 0x7A #define KEYCODE_S 0x73 #define KEYCODE_X 0x78 #define KEYCODE_Q 0x71 #define KEYCODE_SPACE 0x20 class TeleopRosAria { public: TeleopRosAria(); void keyLoop(); private: ros::NodeHandle nh_; double linear_, angular_, l_scale_, a_scale_; double current_linear_, current_angular_, step_linear_, step_angular_; ros::Publisher twist_pub_; }; TeleopRosAria::TeleopRosAria(): linear_(0), angular_(0), l_scale_(2.0), a_scale_(2.0), current_angular_(0.1), current_linear_(0.1), step_linear_(0.2), step_angular_(0.1) { nh_.param(scale_angular, a_scale_, a_scale_); nh_.param(scale_linear, l_scale_, l_scale_); twist_pub_ nh_.advertisegeometry_msgs::Twist(/cmd_vel, 1); } int kfd 0; struct termios cooked, raw; void quit(int sig) { tcsetattr(kfd, TCSANOW, cooked); ros::shutdown(); exit(0); } int main(int argc, char** argv) { ros::init(argc, argv, teleop_RosAria); TeleopRosAria teleop_RosAria; signal(SIGINT,quit); teleop_RosAria.keyLoop(); return(0); } void TeleopRosAria::keyLoop() { char c; bool dirtyfalse; // get the console in raw mode tcgetattr(kfd, cooked); memcpy(raw, cooked, sizeof(struct termios)); raw.c_lflag ~ (ICANON | ECHO); // Setting a new line, then end of file raw.c_cc[VEOL] 1; raw.c_cc[VEOF] 2; tcsetattr(kfd, TCSANOW, raw); puts(Reading from keyboard); puts(---------------------------); puts(Use arrow keys to move the robot.); puts(Press the space bar to stop the robot.); puts(Press q to stop the program); puts(a/z - Increase/decrease linear velocity); puts(s/x - Increase/decrease angular velocity); for(;;) { // get the next event from the keyboard if(read(kfd, c, 1) 0) { perror(read():); exit(-1); } linear_angular_0; char printable[100]; ROS_DEBUG(value: 0x%02X\n, c); switch(c) { case KEYCODE_L: ROS_DEBUG(LEFT); angular_ current_angular_; linear_ 0; dirty true; break; case KEYCODE_R: ROS_DEBUG(RIGHT); angular_ -current_angular_; linear_ 0; dirty true; break; case KEYCODE_U: ROS_DEBUG(UP); linear_ current_linear_; angular_ 0; dirty true; break; case KEYCODE_D: ROS_DEBUG(DOWN); linear_ -current_linear_; angular_ 0; dirty true; break; case KEYCODE_A: ROS_DEBUG(INCREASE LINEAR SPEED); current_linear_ step_linear_; sprintf(printable, Linear speed: %02f, current_linear_); puts(printable); dirtytrue; break; case KEYCODE_Z: ROS_DEBUG(DECREASE LINEAR SPEED); current_linear_ - step_linear_; if(current_linear_ 0) current_linear_ 0; sprintf(printable, Linear speed: %02f, current_linear_); puts(printable); dirtytrue; break; case KEYCODE_S: ROS_DEBUG(INCREASE ANGULAR SPEED); current_angular_ step_angular_; sprintf(printable, Angular speed: %02f, current_angular_); puts(printable); dirtytrue; break; case KEYCODE_X: ROS_DEBUG(DECREASE LINEAR SPEED); current_angular_ - step_angular_; if(current_angular_ 0) current_angular_ 0; sprintf(printable, Angular speed: %02f, current_angular_); puts(printable); dirtytrue; break; case KEYCODE_SPACE: ROS_DEBUG(STOP); linear_ 0; angular_ 0; dirty true; break; case KEYCODE_Q: ROS_DEBUG(QUIT); ROS_INFO_STREAM(You quit the teleop successfully); return; break; } geometry_msgs::Twist twist; twist.angular.z a_scale_*angular_; twist.linear.x l_scale_*linear_; if(dirty true) { twist_pub_.publish(twist); dirtyfalse; } } return; }使用键盘控制自己的机器人到你想要创建地图的地方,(当机器人移动时,在RVIZ中的扫描点会反映出机器人附近环境的变化,记得重复检查Fixed Frame已经通过Global Options设定在odom框架)对gmapping进行可视化rosrun rviz rviz -d rospack find felaim_2dnav/launch/gmapping.rviz把数据记录到一个包文件中,新建一个文件夹bag_filesroscd felaim_2dnav/bag_files //my_scan_data是LZ取的包名,小伙伴们可以根据自己的喜好进行修改 //输入的是tf和转换的laser数据 rosbag record -O my_scan_data /scan /tf在ctrlc后结束记录后,通过map_sever进行地图创建为了保存地图,我们还是可以新建一个文件夹用来放地图mapsroscd felaim_2dnav/maps //取的名字是my_map,可以自行修改啦 rosrun map_sever map_saver -f my_map //通过eye of Gnome查看保存的地图 eog my_map_pgm走廊的建图:感觉还是有些漂…O(∩_∩)O哈哈继续努力(≧▽≦)/~啦啦啦