导航实物部署

一二一三八

在实物机器人上面进行导航部署，已完成建图操作。实物机器人能提供里程计信息。传感器为镭神m10_p激光雷达。但在进行导航实践时出现错误：
[amcl-8] [INFO] [1693798122.384041701] [amcl_rclcpp_node]: Message Filter dropping message: frame 'laser_link' at time 1693798121.550 for reason 'discarding message because the queue is full'
[rviz2-16] [INFO] [1693798122.398805178] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 1693798121.550 for reason 'discarding message because the queue is full'

部署在orin nx板子上面，ubuntu系统为20.04，ros2版本为galactic。

launch文件nav2.launch.py如下：
import os
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription,ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():

nav2_bringup_dir = get_package_share_directory('nav2_bringup')
launch_dir = get_package_share_directory('nav2')
pkg_share_laser = get_package_share_directory('lslidar_driver')



rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')
urdf_model_path = os.path.join(launch_dir, f'urdf/{"fishbot_gazebo.urdf"}')

#是否使用仿真时间，我们用gazebo，这里设置成true
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
map_yaml_path = LaunchConfiguration('map',default= os.path.join(launch_dir,'map','map4.yaml'))
nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(launch_dir,'param','nav.yaml'))
# 地图的分辨率
# 地图的发布周期    


return LaunchDescription([
    DeclareLaunchArgument('use_sim_time',default_value=use_sim_time,description='Use simulation (Gazebo) clock if true'),
    DeclareLaunchArgument('map',default_value=map_yaml_path,description='Full path to map file to load'),
    DeclareLaunchArgument('params_file',default_value=nav2_param_path,description='Full path to param file to load'),

    IncludeLaunchDescription(
        PythonLaunchDescriptionSource([pkg_share_laser,'/launch','/lsm10p_net_launch.py'])),
    
    
    ExecuteProcess(
        cmd=['sleep', '10'],
        output='screen'),


    Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        arguments=[urdf_model_path]),

    Node(
        package='bringup',
        executable='odom',
        name='odom_node',
        output='screen'),

    Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        arguments=[urdf_model_path]),
    
    
    Node(
        package='robot_localization',
        executable='ekf_node',
        name='ekf_filter_node',
        output='screen',
        parameters=[os.path.join(launch_dir, 'conf/ekf.yaml'),
                    {'use_sim_time': use_sim_time}]),


    IncludeLaunchDescription(
        PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
        launch_arguments={
            'map': map_yaml_path,
            'use_sim_time': use_sim_time,
            'params_file': nav2_param_path}.items(),),

    Node(
          package='rviz2',
          executable='rviz2',
          name='rviz2',
          arguments=['-d', rviz_config_dir],
          parameters=[{'use_sim_time': use_sim_time}],
          output='screen'),])

其中odom_node是自己写的串口通信模块，用于发布里程计信息和订阅cmd_vel信息。

nav的配置文件nav.yaml如下：
amcl:
ros__parameters:
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
map_topic: map
set_initial_pose: false
always_reset_initial_pose: false
initial_pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0

amcl_map_client:
ros__parameters:
use_sim_time: True

amcl_rclcpp_node:
ros__parameters:
use_sim_time: True

bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
# '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_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_truncate_path_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_distance_traveled_condition_bt_node
- nav2_single_trigger_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

bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True

controller_server:
ros__parameters:
use_sim_time: True
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

controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True

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: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.40
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
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:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True

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: True
robot_radius: 0.40
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: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True

map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "map4.yaml"
topic_name: "map"
frame_id: "map"

map_saver:
ros__parameters:
use_sim_time: True
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: True
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: True

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: true
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: True

waypoint_follower:
ros__parameters:
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

运行ros2 launch nav2 nav2.launch.py，终端显示错误：
[amcl-8] [INFO] [1693802494.007698765] [amcl_rclcpp_node]: Message Filter dropping message: frame 'laser_link' at time 1693802493.174 for reason 'discarding message because the queue is full'
[rviz2-16] [INFO] [1693802494.019894090] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 1693802493.174 for reason 'discarding message because the queue is full'

求助大佬们怎么解决。感激不尽！！！

毛哥成山轮胎机油保养

@3568485143 我这段时间也一直在研究实体机器人导航这一块，你的机器人开启imu了吗，如果没有开启先不用Node(
package='robot_localization',
executable='ekf_node',
这个节点，这个节点是融合里程计和imu的，跑通了在把这个节点加上，先用最简单的模型跑通导航，你可以参考一下我的学习记录
链接文本，
我也遇到了很多问题，我们可以一起探讨

一二一三八

@毛哥成山轮胎机油保养没有使用imu，但是我查过资料，融合定位可以使用单独的里程计进行定位，这个应该不是问题的原因，谢谢您

一二一三八

@毛哥成山轮胎机油保养我初步判定可能是我的里程计消息的问题。我写的里程计节点可能不完善，正在尝试修改。再次感谢您的回复，希望能多多交流，一起学习。

毛哥成山轮胎机油保养

@3568485143 如果没有imu 最好先不要用融合定位，融合的话底盘发出的/odom需要修改，假设修改成/odom_diff, 融合生成的话题也需要映射
remappings=[('/odometry/filtered','odom'),],
还要配置ekf.yaml文件，难度会增大很多，导致你很难判断哪里有问题