[FishBot教程] 6. 雷达驱动及建图测试

1281857896

@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

1281857896

@小鱼不好意思，这个没考虑到

小鱼

@1281857896 这个参数是哪里来的

1281857896

@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

@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

@小鱼有些参数不一样

小鱼

@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

1281857896

@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

775405893

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

@1281857896 对比下文件区别，可能哪里不对劲的

小鱼

@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

775405893

@小鱼屏幕截图 2024-09-10 120943.png

小鱼

@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

小鱼

@775405893 雷达驱动意外挂了，重新运行下试试

775405893

@小鱼 ubuntu 24 ，ros2是jazzy版，虚拟机桥接，雷达连的电脑热点。重启了一下还是这个问题，雷达地址能ping通。

小鱼

@775405893 估计是版本问题，docker里面是22.04的，最好主机也用22.04，教程也是22.04的，还会有坑等着你。你那里有书吗，书上有源码驱动雷达的方法，只能用这个了，或者你需要等一段时间（半个月左右），我抽空时间来适配下24.04系统。

775405893

@小鱼好的谢谢，有书，我现在去翻一下

小鱼

@775405893 第九章，你找找

466413819

在ARM64架构下，ubuntu humble虚拟机
zhao@zhao-virtual-machine:~$ xhost + && sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -p 8889:8888 fishros2/fishbot_laser
access control disabled, clients can connect from any host
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
exec /bin/bash: exec format error
请问小鱼有没有解决办法，有没有类似 miroros agent 的离线解决方案？

小鱼

@466413819 arm架构下不支持这个镜像，需要按照

拓展1：FishBot配套雷达驱动教程（源码版）
拓展2：树莓派上使用micros-agent驱动主控板的方法
拓展3：FishBot 树莓派配置建图导航