1.导航功能包 （1）move_base：实现机器人导航中的最优路径规划 （2）amcl:实现二维地图中的机器人定位 命令安装
$ sudo apt-get install ros-kinetic-navigationmove_base功能包 创建fake文件夹
mkdir -p ~/catkin_ws/src/mrobot_navigation/config/fake2.代价地图的配置 一种用于全局路径规划（globa——costmap）,一种用于本地路径规划和实时避障（local_costmap) (1)通用配置文件(Common Configuration, local_costmap & global_costmap) 代价地图用来储存周围环境的障碍信息，其中需要声明地图关注的机器人传感器消息，以便于地图信息的更新。创建 costmap_common_params.yaml的配置文件。
# obstacle_range设置机器人检测障碍物的最大范围2.5m;raytrace_range检测自由空间的最大范围为3m。 obstacle_range: 2.5 raytrace_range: 3.0 # footprint: [[0.165, 0.165], [0.165, -0.165], [-0.165, -0.165], [-0.165, 0.165]]，设置机器人的外形半径以及障碍物的膨胀参数 robot_radius: 0.165 inflation_radius: 0.1 #障碍物的最大和最小高度 max_obstacle_height: 0.6 min_obstacle_height: 0.0 # observation_sources参数列出了代价地图需要关注的所有传感器信息 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}（2）全局规划配置文件（Global Configuration, global_costmap）
global_costmap: global_frame: /map robot_base_frame: /base_footprint update_frequency: 1.0 publish_frequency: 0 static_map: true rolling_window: false resolution: 0.01 transform_tolerance: 1.0 map_type: costmap # global_frame参数用来表示全局代价地图需要在哪个参考系下运行，这里选择map参考系; robot_base_frame参数用来表示代价地图可以参考的机器人本体的坐标; update_frequency参数用来决定全局地图信息的更新频率（HZ）;static_map参数用来决定代价地图是否需要根据map_server提供的地图信息进行初始化。（3）本地规划配置文件（Local Configuration, local_costmap）
local_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 3.0 publish_frequency: 1.0 static_map: true rolling_window: false width: 6.0 height: 6.0 resolution: 0.01 transform_tolerance: 1.03.本地规划器配置 创建base_local_planner_params.yaml配置文件
clearing_rotation_allowed: false TrajectoryPlannerROS: max_vel_x: 0.3 min_vel_x: 0.05 max_vel_y: 0.0 # zero for a differential drive robot min_vel_y: 0.0 min_in_place_vel_theta: 0.5 escape_vel: -0.1 acc_lim_x: 2.5 acc_lim_y: 0.0 # zero for a differential drive robot acc_lim_theta: 3.2 holonomic_robot: false yaw_goal_tolerance: 0.1 # about 6 degrees xy_goal_tolerance: 0.1 # 10 cm latch_xy_goal_tolerance: false pdist_scale: 0.9 gdist_scale: 0.6 meter_scoring: true heading_lookahead: 0.325 heading_scoring: false heading_scoring_timestep: 0.8 occdist_scale: 0.1 oscillation_reset_dist: 0.05 publish_cost_grid_pc: false prune_plan: true sim_time: 1.0 sim_granularity: 0.025 angular_sim_granularity: 0.025 vx_samples: 8 vy_samples: 0 # zero for a differential drive robot vtheta_samples: 20 dwa: true simple_attractor: false4.在rviz中仿真机器人导航 创建启动文件mrobot_navigation/launch/fake_move_base.launch启动move_base节点,并加载所有配置文件。
<launch> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true"> <rosparam file="$(find mrobot_navigation)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find mrobot_navigation)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find mrobot_navigation)/config/fake/local_costmap_params.yaml" command="load" /> <rosparam file="$(find mrobot_navigation)/config/fake/global_costmap_params.yaml" command="load" /> <rosparam file="$(find mrobot_navigation)/config/fake/base_local_planner_params.yaml" command="load" /> </node> </launch>然后创建一个运行所有导航功能节点的顶层launch文件mrobot_navigation/launch/fake_nav_demo.launch
<launch> <param name="use_sim_time" value="false" /> <!-- 设置地图的配置文件 --> <arg name="map" default="gmapping_map.yaml" /> <!-- 运行地图服务器，并且加载设置的地图 --> <node name="map_server" pkg="map_server" type="map_server" args="$(find mrobot_navigation)/maps/$(arg map)"/> <!-- 运行move_base节点 --> <include file="$(find mrobot_navigation)/launch/fake_move_base.launch" /> <!-- 运行虚拟定位，兼容AMCL输出 --> <node pkg="fake_localization" type="fake_localization" name="fake_localization" output="screen" /> <!-- 对于虚拟定位，需要设置一个/odom与/map之间的静态坐标变换 --> <node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster" arg="0 0 0 0 0 0 /map /odom 100" /> <!--运行rviz--> <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mrobot_navigation)/rviz/nav.rviz"/> <launch>此外，为了启动机器人模型，创建mrobot_bringup/launch/fake_mrobot_with_laser.launch文件
<launch> <param name="/use_sim_time" value="false" /> <!-- 加载机器人URDF/Xacro模型 --> <arg name="urdf_file" default="$(find_ xacro)/xacro --inorder '$(find mrobot_description)/urdf/mrobot_with_rplidar.urdf.xacro'" /> <param name="robot_description" command="$(arg urdf_file)" /> <node name="arbotix" pkg="arbotix_python" type="arbotix-driver" output="screen" clear_params="true"> <rosparam file="$(find mrobot_bringup)/config/fake_mrobot_arbotix.yaml" command="load" /> <param name="sim" value="true"/> </node> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> <param name="publish_frequency" type="double" value="20.0" /> </node> </launch>在mrobot_bringup的config里创建fake_mrobot_arbotix.yaml文件
port: /dev/ttyUSB0 baud: 115200 rate: 20 sync_write: True sync_read: True read_rate: 20 write_rate: 20 controllers: { # Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100) base_controller: {type: diff_controller, base_frame_id: base_footprint, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 } }运行启动文件
$ roscore $ roslaunch mrobot_bringup fake_mrobot_with_laser.launch $ roslaunch mrobot_navigation fake_nav_demo.launch如图所示 手动导航： 用鼠标点击菜单中“2D Nav Goal”,但是由于机器人物理参数的限制，机器人不能完全按照最优路径移动
自动导航： 因为mrobot_navigation.py没有运行权限，用一下命令
$ cd ~/catkin_ws/src/mrobot_navigation/scripts $ chmod +x random_navigation.py $ roscore $ roslaunch mrobot_bringup fake_mrobot_with_laser.launch $ roslaunch mrobot_navigation fake_nav_demo.launch $ rosrun mrobot_navigation random_navigation.py打开日志监控的可视化终端，可以看到机器人发布的距离信息、状态信息、目标点编号、成功率和速度等日志。
$ rqt_console链接：https://pan.baidu.com/s/1cdUhkGwKz-FiRZ-1axvYLg 提取码：81t9
