[FishBot教程] 9.0.6. 雷达驱动及建图测试

[小鱼]

@447622663 建议换成humble版本，ubuntu22.04哈，不然后续导航还会遇到问题

[447622663]

@小鱼 Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
我重新安装了humble后，用docker的时候（用配置助手的时候）出现了上面这段。(后来docker重启过)。
用的是一键安装docker代理，服务模式（代理服务器默认的那几个都换过，现在用的是https://dockerhub.azk8s.cn"）。

[小鱼]

@447622663 docker挂掉了，你先清除下docker的代理配置吧，感觉是配置有错误

[1281857896]

@1281857896 xue@xuelinux:~$ ping 192.168.1.107
PING 192.168.1.107 (192.168.1.107) 56(84) bytes of data.
64 bytes from 192.168.1.107: icmp_seq=1 ttl=255 time=4.88 ms
64 bytes from 192.168.1.107: icmp_seq=2 ttl=255 time=5.63 ms
64 bytes from 192.168.1.107: icmp_seq=3 ttl=255 time=9.29 ms
64 bytes from 192.168.1.107: icmp_seq=4 ttl=255 time=4.04 ms
64 bytes from 192.168.1.107: icmp_seq=5 ttl=255 time=4.92 ms
64 bytes from 192.168.1.107: icmp_seq=6 ttl=255 time=6.85 ms
64 bytes from 192.168.1.107: icmp_seq=7 ttl=255 time=6.87 ms
64 bytes from 192.168.1.107: icmp_seq=8 ttl=255 time=5.01 ms
64 bytes from 192.168.1.107: icmp_seq=9 ttl=255 time=13.4 ms
64 bytes from 192.168.1.107: icmp_seq=10 ttl=255 time=3.34 ms
^[^A64 bytes from 192.168.1.107: icmp_seq=11 ttl=255 time=5.95 ms
64 bytes from 192.168.1.107: icmp_seq=12 ttl=255 time=6.10 ms
64 bytes from 192.168.1.107: icmp_seq=13 ttl=255 time=9.15 ms
64 bytes from 192.168.1.107: icmp_seq=14 ttl=255 time=10.4 ms

[1281857896]

@1281857896 这是到雷达板

[小鱼]

@1281857896 速度还可以，看看rqt-tf-tree

[小鱼]

@小鱼 ros2 topic hz /scan 也看看

[1281857896]

@1281857896没法确定小车底板的ip地址

[小鱼]

@1281857896 到雷达还是主控板的，插上oled都可以看到的

[1281857896]

@小鱼

[1281857896]

@小鱼 这是雷达和坐标关系图，那个底板可能不是全部的程序，只是讲解部分的最终程序，所以没有IP显示这部分

[小鱼]

@1281857896 可以用我提供的完整固件，那个固件缺少了断线重连部分，偶尔会有bug

[1281857896]

@小鱼 等会尝试一下，好家伙，串话题了，刚才不是在那个问题吗

[小鱼]

@1281857896 odom到base_footprint部分代码应该有吧，里面有时间相关的操作。

可以把左边的+1.0上去看看

[1281857896]

@小鱼 好的.......

[小鱼]

@1281857896 nav2的配置也贴一下

[1281857896]

此回复已被删除！

[小鱼]

@1281857896 求求了，不要截图不要截图，手机上一点都看不清，还不好复制粘贴

[1281857896]

@1281857896 基本没改啥，主要use_sim_time全都变成了false,然后把地图的膨胀半径减小，小车底盘的半径减小

[1281857896]

@小鱼 amcl:
ros__parameters:
use_sim_time: false
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan

bt_navigator:
ros__parameters:
use_sim_time: false
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: false

bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: false

controller_server:
ros__parameters:
use_sim_time: false
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
#  plugin: "nav2_controller::SimpleGoalChecker"
#  xy_goal_tolerance: 0.25
#  yaw_goal_tolerance: 0.25
#  stateful: True
general_goal_checker:
  stateful: True
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  debug_trajectory_details: True
  min_vel_x: 0.0
  min_vel_y: 0.0
  max_vel_x: 0.26
  max_vel_y: 0.0
  max_vel_theta: 1.0
  min_speed_xy: 0.0
  max_speed_xy: 0.26
  min_speed_theta: 0.0
  # Add high threshold velocity for turtlebot 3 issue.
  # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2
  decel_lim_x: -2.5
  decel_lim_y: 0.0
  decel_lim_theta: -3.2
  vx_samples: 20
  vy_samples: 5
  vtheta_samples: 20
  sim_time: 1.7
  linear_granularity: 0.05
  angular_granularity: 0.025
  transform_tolerance: 0.2
  xy_goal_tolerance: 0.25
  trans_stopped_velocity: 0.25
  short_circuit_trajectory_evaluation: True
  stateful: True
  critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  BaseObstacle.scale: 0.02
  PathAlign.scale: 32.0
  PathAlign.forward_point_distance: 0.1
  GoalAlign.scale: 24.0
  GoalAlign.forward_point_distance: 0.1
  PathDist.scale: 32.0
  GoalDist.scale: 24.0
  RotateToGoal.scale: 32.0
  RotateToGoal.slowing_factor: 5.0
  RotateToGoal.lookahead_time: -1.0

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: false
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.08
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.15
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
use_sim_time: false
robot_radius: 0.08
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.05
always_send_full_costmap: True

map_server:
ros__parameters:
use_sim_time: false
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""

map_saver:
ros__parameters:
use_sim_time: false
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: false
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

smoother_server:
ros__parameters:
use_sim_time: false
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: odom
robot_base_frame: base_footprint
transform_tolerance: 0.1
use_sim_time: false
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

robot_state_publisher:
ros__parameters:
use_sim_time: false

waypoint_follower:
ros__parameters:
use_sim_time: false
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

velocity_smoother:
ros__parameters:
use_sim_time: false
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0