ROS機(jī)器人程序設(shè)計(jì)（原書第2版）補(bǔ)充資料 （捌） 第八章 導(dǎo)航功能包集入門 navigation

ROS機(jī)器人程序設(shè)計(jì)（原書第2版）補(bǔ)充資料 （捌） 第八章 導(dǎo)航功能包集入門

navigation

書中，大部分出現(xiàn)hydro的地方，直接替換為indigo或jade或kinetic，即可在對(duì)應(yīng)版本中使用。

本章三個(gè)非常重要概念：TF，SLAM，AMCL。務(wù)必掌握。

補(bǔ)充內(nèi)容：http://blog.csdn.net/zhangrelay/article/details/50299417

第216頁(yè)：

簡(jiǎn)介本章要點(diǎn)。

第217頁(yè)：

導(dǎo)航綜合功能包組成架構(gòu)等。

補(bǔ)充如下：

目錄

配置并使用導(dǎo)航功能包集

配置并使用導(dǎo)航功能包集的全局規(guī)劃器（Global Planner）

導(dǎo)航功能包集和stage

機(jī)器人的具體配置

Erratic

Pioneer

iRobot Create

配置并使用導(dǎo)航功能包集

Setting up your robot using tf

This tutorial provides a guide to set up your robot to start using tf.

在機(jī)器人上配置并使用導(dǎo)航功能包集

本教程一步步介紹如何在機(jī)器人上運(yùn)行導(dǎo)航功能包集。包括：使用tf發(fā)送變換，發(fā)布里程計(jì)信息，發(fā)布來(lái)自激光的傳感器信息，基本的導(dǎo)航功能包集的配置。

在ROS上發(fā)布傳感器數(shù)據(jù)流

這個(gè)教程提供發(fā)布兩種類型的傳感器數(shù)據(jù)的例子，即?sensor_msgs/LaserScan?消息和sensor_msgs/PointCloud?消息。

未翻譯部分

Navigate in Simulation

This pagge describes awesome simulation

Navigate with real robot

This page describes navigation with real robot

Setting up your robot using tf

This tutorial provides a guide to set up your robot to start using tf.

Explore surrounding areas and make a map

Explore the real environment from robot's vision and save a map.

Navigate with a known map

Ramble in the known area with a previously saved a map

Explore surrounding areas and make a map

Explore the environment from robot's vision and save a map.

Navigate with a known map

Ramble in the known area with a previously saved a map.

No Title

No Description

Navigation of the Evarobot in Gazebo

How to navigate evarobot in Gazebo with a previously known map.

Bilinen Bir Haritada Otonom Evarobot Navigasyonu

Daha ?nceden ??kart?lm?? haritada otonom robot navigasyonu.

Basic Navigation Tuning Guide

This guide seeks to give some standard advice on how to tune the?ROS Navigation Stack?on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the?ROS Navigation Tutorial?before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

Using rviz with the Navigation Stack

This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

Installing

Instructions to install and compile this package

Evarobot Exploration

How to generate a SLAM map autonomously with Evarobot using frontier_exploration

Autonomous Navigation of a Known Map with Evarobot

How to navigate autonomously the Evarobot with known map.

Setup and Configuration of the Navigation Stack on a Robot

This tutorial provides step-by-step instructions for how to get the navigation stack running on a robot. Topics covered include: sending transforms using tf, publishing odometry information, publishing sensor data from a laser over ROS, and basic navigation stack configuration.

Publishing Odometry Information over ROS

This tutorial provides an example of publishing odometry information for the navigation stack. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf.

Publishing Sensor Streams Over ROS

This tutorial provides examples of sending two types of sensor streams,?sensor_msgs/LaserScan?messages and?sensor_msgs/PointCloudmessages over ROS.

Gazebo'da Evarobot Navigasyonu

??kart?lm?? harita üzerinden Gazebo'da otonom Evarobot navigasyonu.

配置并使用導(dǎo)航功能包集的全局規(guī)劃器（Global Planner）

寫一個(gè)全局路徑規(guī)劃器作為ROS的插件: 本教程展示了編寫并作為插件在ROS中使用全局路徑規(guī)劃器的步驟。

導(dǎo)航功能包集和stage

想要在stage模擬器下使用導(dǎo)航功能包集，請(qǐng)查看navigation_stage軟件包。?(!)譯者注：本條目?jī)?nèi)容我不太了解。歡迎大家修改。

機(jī)器人的具體配置

本節(jié)包含在特定機(jī)器人上配置導(dǎo)航功能包集的信息。請(qǐng)?zhí)砑幽呐渲眯畔ⅲ瑤椭覀兺晟扑?/p>

Erratic

軟件包erratic_navigation包含在Erratic機(jī)器人上運(yùn)行導(dǎo)航功能包集的配置文件和啟動(dòng)文件。軟件包erratic_navigation_apps包含的示例啟動(dòng)文件會(huì)在三種不同的配置下啟動(dòng)導(dǎo)航功能包：

在已存在的靜態(tài)地圖中導(dǎo)航

使用SLAM構(gòu)建地圖并導(dǎo)航

不進(jìn)行構(gòu)建地圖與定位，僅以來(lái)本地的里程計(jì)幀進(jìn)行導(dǎo)航；

軟件包erratic_teleop包含用鍵盤控制驅(qū)動(dòng)機(jī)器人的節(jié)點(diǎn)(例如，在SLAM模式下)。

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TF。補(bǔ)充如下：

Many of the tf tutorials are available for both C++ and Python. The tutorials are streamlined to complete either the C++ track or the Python track. If you want to learn both C++ and Python, you should run through the tutorials once for C++ and once for Python.?Note that the general concept itself is explained directly on?tf package.

目錄

Workspace Setup

Learning tf

Debugging tf

Using sensor messages with tf

Setting up your robot with tf

Video Tutorial (PR2 Beta Workshop)

Workspace Setup

If you have not yet created a workspace in which to complete the tutorials,?click here for some brief instructions?.

Learning tf

Introduction to tf

C++

Python

Writing a tf broadcaster (C++)

This tutorial teaches you how to broadcast coordinate frames of a robot to tf.

Writing a tf listener (C++)

This tutorial teaches you how to use tf to get access to frame transformations.

Adding a frame (C++)

This tutorial teaches you how to add an extra fixed frame to tf.

Learning about tf and time (C++)

This tutorial teaches you to use the waitForTransform function to wait for a transform to be available on the tf tree.

Time travel with tf (C++)

This tutorial teaches you about advanced time travel features of tf

Writing a tf broadcaster (Python)

This tutorial teaches you how to broadcast the state of a robot to tf.

Writing a tf listener (Python)

This tutorial teaches you how to use tf to get access to frame transformations.

Adding a frame (Python)

This tutorial teaches you how to add an extra fixed frame to tf.

Learning about tf and time (Python)

This tutorial teaches you to use the waitForTransform function to wait for a transform to be available on the tf tree.

Time travel with tf (Python)

This tutorial teaches you about advanced time travel features of tf

Now that you have completed these tutorials please take the time to complete this short?questionnaire.

Debugging tf

Debugging tf problems

This tutorial gives a systematic approach for debugging tf related problems.

Using sensor messages with tf

Using Stamped datatypes with tf::MessageFilter

This tutorial describes how to use?tf::MessageFIlter to process Stamped datatypes.

Setting up your robot with tf

Setting up your robot using tf

This tutorial provides a guide to set up your robot to start using tf.

Using the robot state publisher on your own robot

This tutorial explains how you can publish the state of your robot to?tf, using the robot state publisher.

Using urdf with robot_state_publisher

This tutorial gives a full example of a robot model with URDF that uses robot_state_publisher. First, we create the URDF model with all the necessary parts. Then we write a node which publishes the?JointState?and transforms. Finally, we run all the parts together.

第221-224頁(yè)：

發(fā)布傳感器信息，如激光雷達(dá)等。

第224-231頁(yè)：

發(fā)布里程計(jì)數(shù)據(jù)，如odom等。

第232-236頁(yè)：

創(chuàng)建基礎(chǔ)控制器，用鍵盤控制機(jī)器人在Gazebo中運(yùn)動(dòng)。

第237-240頁(yè)：

創(chuàng)建地圖，并保存地圖，為下一章導(dǎo)航進(jìn)階做準(zhǔn)備。

http://wiki.ros.org/slam_gmapping

注意map_server。

補(bǔ)充：http://wiki.ros.org/map_server

第240頁(yè)：

本章小結(jié)。

思考與鞏固：

1 在ROS使用一個(gè)示例如Erratic，實(shí)現(xiàn)地圖構(gòu)建。

可參考：http://blog.csdn.net/zhangrelay/article/details/51346435

2 通過(guò)示例復(fù)習(xí)前七章內(nèi)容。

機(jī)器人

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版權(quán)聲明：本文內(nèi)容由網(wǎng)絡(luò)用戶投稿，版權(quán)歸原作者所有，本站不擁有其著作權(quán)，亦不承擔(dān)相應(yīng)法律責(zé)任。如果您發(fā)現(xiàn)本站中有涉嫌抄襲或描述失實(shí)的內(nèi)容，請(qǐng)聯(lián)系我們jiasou666@gmail.com 處理，核實(shí)后本網(wǎng)站將在24小時(shí)內(nèi)刪除侵權(quán)內(nèi)容。