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    [FishBot教程] 9.0.6. 雷达驱动及建图测试

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    • 12818578961
      1281857896 @1281857896
      最后由 编辑

      @1281857896没法确定小车底板的ip地址

      小鱼小 1 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @1281857896
        最后由 编辑

        @1281857896 到雷达还是主控板的,插上oled都可以看到的

        新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

        12818578961 2 条回复 最后回复 回复 引用 0
        • 12818578961
          1281857896 @小鱼
          最后由 编辑

          @小鱼 截图 2024-08-26 18-39-17.png 截图 2024-08-26 18-38-37.png

          1 条回复 最后回复 回复 引用 0
          • 12818578961
            1281857896 @小鱼
            最后由 编辑

            @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

            小鱼小 3 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @1281857896
              最后由 编辑

              @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

              新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

              12818578961 1 条回复 最后回复 回复 引用 0
              • 12818578961
                1281857896 @小鱼
                最后由 编辑

                @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

                1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @1281857896
                  最后由 编辑

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

                  5101de78-466b-42a0-bf43-26ae56ffee45-image.png

                  可以把左边的+1.0上去看看

                  新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                  12818578961 1 条回复 最后回复 回复 引用 0
                  • 12818578961
                    1281857896 @小鱼
                    最后由 编辑

                    @小鱼 好的.......

                    1 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @1281857896
                      最后由 编辑

                      @1281857896 nav2的配置也贴一下

                      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                      12818578961 1 条回复 最后回复 回复 引用 0
                      • 12818578961
                        1281857896 @小鱼
                        最后由 编辑

                        此回复已被删除!
                        小鱼小 12818578961 2 条回复 最后回复 回复 引用 0
                        • 小鱼小
                          小鱼 技术大佬 @1281857896
                          最后由 小鱼 编辑

                          @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

                          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                          12818578961 2 条回复 最后回复 回复 引用 0
                          • 12818578961
                            1281857896 @1281857896
                            最后由 编辑

                            @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

                            1 条回复 最后回复 回复 引用 0
                            • 12818578961
                              1281857896 @小鱼
                              最后由 编辑

                              @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

                              1 条回复 最后回复 回复 引用 0
                              • 12818578961
                                1281857896 @小鱼
                                最后由 编辑

                                @小鱼 不好意思,这个没考虑到

                                小鱼小 1 条回复 最后回复 回复 引用 0
                                • 小鱼小
                                  小鱼 技术大佬 @1281857896
                                  最后由 编辑

                                  @1281857896 这个参数是哪里来的

                                  新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                  12818578961 1 条回复 最后回复 回复 引用 0
                                  • 12818578961
                                    1281857896 @小鱼
                                    最后由 编辑

                                    @小鱼 第17章建图与导航实践 fishbot导航实现 fishbot导航实现那块安装了nav2功能包,然后从功能包里复制出来的参数就这么多,我刚打开功能包确实是这些参数
                                    复制的时候用的下面这个命令
                                    cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml src/fishbot_navigation2/config

                                    小鱼小 1 条回复 最后回复 回复 引用 0
                                    • 小鱼小
                                      小鱼 技术大佬 @1281857896
                                      最后由 编辑

                                      @1281857896 你从快速上手教程里拷贝试试,或者直接用快速上手教程里的导航配置跑跑,看看能不能跑起来

                                      新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                      小鱼小 1 条回复 最后回复 回复 引用 0
                                      • 小鱼小
                                        小鱼 技术大佬 @小鱼
                                        最后由 编辑

                                        @小鱼 有些参数不一样

                                        新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                        小鱼小 12818578961 2 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @小鱼
                                          最后由 编辑

                                          @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: "differential"
                                              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
                                          
                                          amcl_map_client:
                                            ros__parameters:
                                              use_sim_time: False
                                          
                                          amcl_rclcpp_node:
                                            ros__parameters:
                                              use_sim_time: False
                                          
                                          bt_navigator:
                                            ros__parameters:
                                              use_sim_time: False
                                              global_frame: map
                                              robot_base_frame: base_link
                                              odom_topic: /odom
                                              default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
                                              plugin_lib_names:
                                              - nav2_compute_path_to_pose_action_bt_node
                                              - nav2_follow_path_action_bt_node
                                              - nav2_back_up_action_bt_node
                                              - nav2_spin_action_bt_node
                                              - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
                                          
                                          bt_navigator_rclcpp_node:
                                            ros__parameters:
                                              use_sim_time: False
                                          
                                          controller_server:
                                            ros__parameters:
                                              use_sim_time: False
                                              controller_frequency: 10.0
                                              min_x_velocity_threshold: 0.001
                                              min_y_velocity_threshold: 0.5
                                              min_theta_velocity_threshold: 0.001
                                              controller_plugins: ["FollowPath"]
                                          
                                              # DWB parameters
                                              FollowPath:
                                                plugin: "dwb_core::DWBLocalPlanner"
                                                debug_trajectory_details: True
                                                min_vel_x: 0.0
                                                min_vel_y: 0.0
                                                max_vel_x: 0.22
                                                max_vel_y: 0.0
                                                max_vel_theta: 0.8
                                                min_speed_xy: 0.0
                                                max_speed_xy: 0.44
                                                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: 0.2
                                                decel_lim_x: -0.5
                                                decel_lim_y: 0.0
                                                decel_lim_theta: -0.5
                                                vx_samples: 20
                                                vy_samples: 0
                                                vtheta_samples: 40
                                                sim_time: 1.5
                                                linear_granularity: 0.05
                                                angular_granularity: 0.025
                                                transform_tolerance: 0.2
                                                xy_goal_tolerance: 0.05
                                                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
                                          
                                          controller_server_rclcpp_node:
                                            ros__parameters:
                                              use_sim_time: False
                                          
                                          local_costmap:
                                            local_costmap:
                                              ros__parameters:
                                                update_frequency: 5.0
                                                publish_frequency: 2.0
                                                global_frame: odom
                                                robot_base_frame: base_link
                                                use_sim_time: False
                                                rolling_window: true
                                                width: 3
                                                height: 3
                                                resolution: 0.05
                                                robot_radius: 0.1
                                                plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
                                                inflation_layer:
                                                  plugin: "nav2_costmap_2d::InflationLayer"
                                                  inflation_radius: 0.2
                                                  cost_scaling_factor: 3.0
                                                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"
                                                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: pointcloud
                                                  pointcloud:
                                                    topic: /intel_realsense_r200_depth/points
                                                    max_obstacle_height: 2.0
                                                    clearing: True
                                                    marking: True
                                                    data_type: "PointCloud2"
                                                static_layer:
                                                  map_subscribe_transient_local: True
                                                always_send_full_costmap: True
                                            local_costmap_client:
                                              ros__parameters:
                                                use_sim_time: False
                                            local_costmap_rclcpp_node:
                                              ros__parameters:
                                                use_sim_time: False
                                          
                                          global_costmap:
                                            global_costmap:
                                              ros__parameters:
                                                update_frequency: 1.0
                                                publish_frequency: 1.0
                                                global_frame: map
                                                robot_base_frame: base_link
                                                use_sim_time: False
                                                robot_radius: 0.1
                                                resolution: 0.05
                                                plugins: ["static_layer", "obstacle_layer", "voxel_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"
                                                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: pointcloud
                                                  pointcloud:
                                                    topic: /intel_realsense_r200_depth/points
                                                    max_obstacle_height: 2.0
                                                    clearing: True
                                                    marking: True
                                                    data_type: "PointCloud2"
                                                static_layer:
                                                  plugin: "nav2_costmap_2d::StaticLayer"
                                                  map_subscribe_transient_local: True
                                                inflation_layer:
                                                  plugin: "nav2_costmap_2d::InflationLayer"
                                                  cost_scaling_factor: 1.0
                                                  inflation_radius: 0.55
                                                always_send_full_costmap: True
                                            global_costmap_client:
                                              ros__parameters:
                                                use_sim_time: False
                                            global_costmap_rclcpp_node:
                                              ros__parameters:
                                                use_sim_time: False
                                          
                                          map_server:
                                            ros__parameters:
                                              use_sim_time: False
                                              yaml_filename: "turtlebot3_world.yaml"
                                          
                                          map_saver:
                                            ros__parameters:
                                              use_sim_time: False
                                              save_map_timeout: 5000
                                              free_thresh_default: 0.25
                                              occupied_thresh_default: 0.65
                                          
                                          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
                                          
                                          planner_server_rclcpp_node:
                                            ros__parameters:
                                              use_sim_time: False
                                          
                                          recoveries_server:
                                            ros__parameters:
                                              costmap_topic: local_costmap/costmap_raw
                                              footprint_topic: local_costmap/published_footprint
                                              cycle_frequency: 10.0
                                              recovery_plugins: ["spin", "backup", "wait"]
                                              spin:
                                                plugin: "nav2_recoveries/Spin"
                                              backup:
                                                plugin: "nav2_recoveries/BackUp"
                                              wait:
                                                plugin: "nav2_recoveries/Wait"
                                              global_frame: odom
                                              robot_base_frame: base_link
                                              transform_timeout: 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
                                          

                                          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

                                          1 条回复 最后回复 回复 引用 0
                                          • 12818578961
                                            1281857896 @小鱼
                                            最后由 编辑

                                            @小鱼 鱼哥,用最新的底板固件加上快速上手里面的fishbot.yaml可以很好实现导航,用那个fishbot_nav2.yaml就会加载不出地图,跑不了,应该是有缺东西

                                            小鱼小 1 条回复 最后回复 回复 引用 0
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