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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 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
                                • 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
                                  • 小鱼小
                                    小鱼 技术大佬 @1281857896
                                    最后由 编辑

                                    @1281857896 对比下文件区别,可能哪里不对劲的

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

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                                    • 小鱼小
                                      小鱼 技术大佬 @775405893
                                      最后由 编辑

                                      @775405893 https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

                                      运行雷达的日志和上下文提供下

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

                                      7754058937 1 条回复 最后回复 回复 引用 0
                                      • 7754058937
                                        775405893 @小鱼
                                        最后由 编辑

                                        @小鱼 屏幕截图 2024-09-10 120943.png

                                        小鱼小 2 条回复 最后回复 回复 引用 0
                                        • 小鱼小
                                          小鱼 技术大佬 @775405893
                                          最后由 编辑

                                          @775405893 系统信息提供下:https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

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

                                          7754058937 1 条回复 最后回复 回复 引用 0
                                          • 小鱼小
                                            小鱼 技术大佬 @775405893
                                            最后由 编辑

                                            @775405893 雷达驱动意外挂了,重新运行下试试

                                            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
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