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    [FishBot教程] 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

      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
      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

            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
            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

                小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                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

                    小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                    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

                        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                        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

                                小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                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

                                    小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                    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

                                      小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                      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

                                        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
                                        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
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