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    [FishBot教程] 9.0.6. 雷达驱动及建图测试

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    • 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/

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                                        • 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
                                          • 7754058937
                                            775405893
                                            最后由 编辑

                                            第三步,话题里面有scan,但出现警告是怎么回事😲
                                            屏幕截图 2024-09-10 120417.png

                                            小鱼小 1 条回复 最后回复 回复 引用 0
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