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    [FishBot教程] 9.0.6. 雷达驱动及建图测试

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    • 12818578961
      1281857896 @小鱼
      最后由 编辑

      @小鱼 截图 2024-08-26 18-39-17.png 截图 2024-08-26 18-38-37.png

      1 条回复 最后回复 回复 引用 0
      • 12818578961
        1281857896 @小鱼
        最后由 编辑

        @小鱼 这是雷达和坐标关系图，那个底板可能不是全部的程序，只是讲解部分的最终程序，所以没有IP显示这部分

        小鱼小 3 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @1281857896
          最后由 编辑

          @1281857896 可以用我提供的完整固件，那个固件缺少了断线重连部分，偶尔会有bug

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

          12818578961 1 条回复 最后回复 回复 引用 0
          • 12818578961
            1281857896 @小鱼
            最后由 编辑

            @小鱼 等会尝试一下，好家伙，串话题了，刚才不是在那个问题吗

            1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @1281857896
              最后由 编辑

              @1281857896 odom到base_footprint部分代码应该有吧，里面有时间相关的操作。

              5101de78-466b-42a0-bf43-26ae56ffee45-image.png

              可以把左边的+1.0上去看看

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

              12818578961 1 条回复 最后回复 回复 引用 0
              • 12818578961
                1281857896 @小鱼
                最后由 编辑

                @小鱼 好的.......

                1 条回复 最后回复 回复 引用 0
                • 小鱼小
                  小鱼 技术大佬 @1281857896
                  最后由 编辑

                  @1281857896 nav2的配置也贴一下

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

                  12818578961 1 条回复 最后回复 回复 引用 0
                  • 12818578961
                    1281857896 @小鱼
                    最后由 编辑

                    此回复已被删除！
                    小鱼小 12818578961 2 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @1281857896
                      最后由 小鱼 编辑

                      @1281857896 求求了，不要截图不要截图，手机上一点都看不清，还不好复制粘贴

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

                      12818578961 2 条回复 最后回复 回复 引用 0
                      • 12818578961
                        1281857896 @1281857896
                        最后由 编辑

                        @1281857896 基本没改啥，主要use_sim_time全都变成了false,然后把地图的膨胀半径减小，小车底盘的半径减小

                        1 条回复 最后回复 回复 引用 0
                        • 12818578961
                          1281857896 @小鱼
                          最后由 编辑

                          @小鱼 amcl:
                          ros__parameters:
                          use_sim_time: false
                          alpha1: 0.2
                          alpha2: 0.2
                          alpha3: 0.2
                          alpha4: 0.2
                          alpha5: 0.2
                          base_frame_id: "base_footprint"
                          beam_skip_distance: 0.5
                          beam_skip_error_threshold: 0.9
                          beam_skip_threshold: 0.3
                          do_beamskip: false
                          global_frame_id: "map"
                          lambda_short: 0.1
                          laser_likelihood_max_dist: 2.0
                          laser_max_range: 100.0
                          laser_min_range: -1.0
                          laser_model_type: "likelihood_field"
                          max_beams: 60
                          max_particles: 2000
                          min_particles: 500
                          odom_frame_id: "odom"
                          pf_err: 0.05
                          pf_z: 0.99
                          recovery_alpha_fast: 0.0
                          recovery_alpha_slow: 0.0
                          resample_interval: 1
                          robot_model_type: "nav2_amcl::DifferentialMotionModel"
                          save_pose_rate: 0.5
                          sigma_hit: 0.2
                          tf_broadcast: true
                          transform_tolerance: 1.0
                          update_min_a: 0.2
                          update_min_d: 0.25
                          z_hit: 0.5
                          z_max: 0.05
                          z_rand: 0.5
                          z_short: 0.05
                          scan_topic: scan

                          bt_navigator:
                          ros__parameters:
                          use_sim_time: false
                          global_frame: map
                          robot_base_frame: base_footprint
                          odom_topic: /odom
                          bt_loop_duration: 10
                          default_server_timeout: 20
                          # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
                          # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
                          # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
                          # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
                          plugin_lib_names:
                          - nav2_compute_path_to_pose_action_bt_node
                          - nav2_compute_path_through_poses_action_bt_node
                          - nav2_smooth_path_action_bt_node
                          - nav2_follow_path_action_bt_node
                          - nav2_spin_action_bt_node
                          - nav2_wait_action_bt_node
                          - nav2_assisted_teleop_action_bt_node
                          - nav2_back_up_action_bt_node
                          - nav2_drive_on_heading_bt_node
                          - nav2_clear_costmap_service_bt_node
                          - nav2_is_stuck_condition_bt_node
                          - nav2_goal_reached_condition_bt_node
                          - nav2_goal_updated_condition_bt_node
                          - nav2_globally_updated_goal_condition_bt_node
                          - nav2_is_path_valid_condition_bt_node
                          - nav2_initial_pose_received_condition_bt_node
                          - nav2_reinitialize_global_localization_service_bt_node
                          - nav2_rate_controller_bt_node
                          - nav2_distance_controller_bt_node
                          - nav2_speed_controller_bt_node
                          - nav2_truncate_path_action_bt_node
                          - nav2_truncate_path_local_action_bt_node
                          - nav2_goal_updater_node_bt_node
                          - nav2_recovery_node_bt_node
                          - nav2_pipeline_sequence_bt_node
                          - nav2_round_robin_node_bt_node
                          - nav2_transform_available_condition_bt_node
                          - nav2_time_expired_condition_bt_node
                          - nav2_path_expiring_timer_condition
                          - nav2_distance_traveled_condition_bt_node
                          - nav2_single_trigger_bt_node
                          - nav2_goal_updated_controller_bt_node
                          - nav2_is_battery_low_condition_bt_node
                          - nav2_navigate_through_poses_action_bt_node
                          - nav2_navigate_to_pose_action_bt_node
                          - nav2_remove_passed_goals_action_bt_node
                          - nav2_planner_selector_bt_node
                          - nav2_controller_selector_bt_node
                          - nav2_goal_checker_selector_bt_node
                          - nav2_controller_cancel_bt_node
                          - nav2_path_longer_on_approach_bt_node
                          - nav2_wait_cancel_bt_node
                          - nav2_spin_cancel_bt_node
                          - nav2_back_up_cancel_bt_node
                          - nav2_assisted_teleop_cancel_bt_node
                          - nav2_drive_on_heading_cancel_bt_node
                          - nav2_is_battery_charging_condition_bt_node

                          bt_navigator_navigate_through_poses_rclcpp_node:
                          ros__parameters:
                          use_sim_time: false

                          bt_navigator_navigate_to_pose_rclcpp_node:
                          ros__parameters:
                          use_sim_time: false

                          controller_server:
                          ros__parameters:
                          use_sim_time: false
                          controller_frequency: 20.0
                          min_x_velocity_threshold: 0.001
                          min_y_velocity_threshold: 0.5
                          min_theta_velocity_threshold: 0.001
                          failure_tolerance: 0.3
                          progress_checker_plugin: "progress_checker"
                          goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
                          controller_plugins: ["FollowPath"]

                          # Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
#  plugin: "nav2_controller::SimpleGoalChecker"
#  xy_goal_tolerance: 0.25
#  yaw_goal_tolerance: 0.25
#  stateful: True
general_goal_checker:
  stateful: True
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  debug_trajectory_details: True
  min_vel_x: 0.0
  min_vel_y: 0.0
  max_vel_x: 0.26
  max_vel_y: 0.0
  max_vel_theta: 1.0
  min_speed_xy: 0.0
  max_speed_xy: 0.26
  min_speed_theta: 0.0
  # Add high threshold velocity for turtlebot 3 issue.
  # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2
  decel_lim_x: -2.5
  decel_lim_y: 0.0
  decel_lim_theta: -3.2
  vx_samples: 20
  vy_samples: 5
  vtheta_samples: 20
  sim_time: 1.7
  linear_granularity: 0.05
  angular_granularity: 0.025
  transform_tolerance: 0.2
  xy_goal_tolerance: 0.25
  trans_stopped_velocity: 0.25
  short_circuit_trajectory_evaluation: True
  stateful: True
  critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  BaseObstacle.scale: 0.02
  PathAlign.scale: 32.0
  PathAlign.forward_point_distance: 0.1
  GoalAlign.scale: 24.0
  GoalAlign.forward_point_distance: 0.1
  PathDist.scale: 32.0
  GoalDist.scale: 24.0
  RotateToGoal.scale: 32.0
  RotateToGoal.slowing_factor: 5.0
  RotateToGoal.lookahead_time: -1.0

                          local_costmap:
                          local_costmap:
                          ros__parameters:
                          update_frequency: 5.0
                          publish_frequency: 2.0
                          global_frame: odom
                          robot_base_frame: base_footprint
                          use_sim_time: false
                          rolling_window: true
                          width: 3
                          height: 3
                          resolution: 0.05
                          robot_radius: 0.08
                          plugins: ["voxel_layer", "inflation_layer"]
                          inflation_layer:
                          plugin: "nav2_costmap_2d::InflationLayer"
                          cost_scaling_factor: 3.0
                          inflation_radius: 0.15
                          voxel_layer:
                          plugin: "nav2_costmap_2d::VoxelLayer"
                          enabled: True
                          publish_voxel_map: True
                          origin_z: 0.0
                          z_resolution: 0.05
                          z_voxels: 16
                          max_obstacle_height: 2.0
                          mark_threshold: 0
                          observation_sources: scan
                          scan:
                          topic: /scan
                          max_obstacle_height: 2.0
                          clearing: True
                          marking: True
                          data_type: "LaserScan"
                          raytrace_max_range: 3.0
                          raytrace_min_range: 0.0
                          obstacle_max_range: 2.5
                          obstacle_min_range: 0.0
                          static_layer:
                          plugin: "nav2_costmap_2d::StaticLayer"
                          map_subscribe_transient_local: True
                          always_send_full_costmap: True

                          global_costmap:
                          global_costmap:
                          ros__parameters:
                          update_frequency: 1.0
                          publish_frequency: 1.0
                          global_frame: map
                          robot_base_frame: base_footprint
                          use_sim_time: false
                          robot_radius: 0.08
                          resolution: 0.05
                          track_unknown_space: true
                          plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
                          obstacle_layer:
                          plugin: "nav2_costmap_2d::ObstacleLayer"
                          enabled: True
                          observation_sources: scan
                          scan:
                          topic: /scan
                          max_obstacle_height: 2.0
                          clearing: True
                          marking: True
                          data_type: "LaserScan"
                          raytrace_max_range: 3.0
                          raytrace_min_range: 0.0
                          obstacle_max_range: 2.5
                          obstacle_min_range: 0.0
                          static_layer:
                          plugin: "nav2_costmap_2d::StaticLayer"
                          map_subscribe_transient_local: True
                          inflation_layer:
                          plugin: "nav2_costmap_2d::InflationLayer"
                          cost_scaling_factor: 3.0
                          inflation_radius: 0.05
                          always_send_full_costmap: True

                          map_server:
                          ros__parameters:
                          use_sim_time: false
                          # Overridden in launch by the "map" launch configuration or provided default value.
                          # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
                          yaml_filename: ""

                          map_saver:
                          ros__parameters:
                          use_sim_time: false
                          save_map_timeout: 5.0
                          free_thresh_default: 0.25
                          occupied_thresh_default: 0.65
                          map_subscribe_transient_local: True

                          planner_server:
                          ros__parameters:
                          expected_planner_frequency: 20.0
                          use_sim_time: false
                          planner_plugins: ["GridBased"]
                          GridBased:
                          plugin: "nav2_navfn_planner/NavfnPlanner"
                          tolerance: 0.5
                          use_astar: false
                          allow_unknown: true

                          smoother_server:
                          ros__parameters:
                          use_sim_time: false
                          smoother_plugins: ["simple_smoother"]
                          simple_smoother:
                          plugin: "nav2_smoother::SimpleSmoother"
                          tolerance: 1.0e-10
                          max_its: 1000
                          do_refinement: True

                          behavior_server:
                          ros__parameters:
                          costmap_topic: local_costmap/costmap_raw
                          footprint_topic: local_costmap/published_footprint
                          cycle_frequency: 10.0
                          behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
                          spin:
                          plugin: "nav2_behaviors/Spin"
                          backup:
                          plugin: "nav2_behaviors/BackUp"
                          drive_on_heading:
                          plugin: "nav2_behaviors/DriveOnHeading"
                          wait:
                          plugin: "nav2_behaviors/Wait"
                          assisted_teleop:
                          plugin: "nav2_behaviors/AssistedTeleop"
                          global_frame: odom
                          robot_base_frame: base_footprint
                          transform_tolerance: 0.1
                          use_sim_time: false
                          simulate_ahead_time: 2.0
                          max_rotational_vel: 1.0
                          min_rotational_vel: 0.4
                          rotational_acc_lim: 3.2

                          robot_state_publisher:
                          ros__parameters:
                          use_sim_time: false

                          waypoint_follower:
                          ros__parameters:
                          use_sim_time: false
                          loop_rate: 20
                          stop_on_failure: false
                          waypoint_task_executor_plugin: "wait_at_waypoint"
                          wait_at_waypoint:
                          plugin: "nav2_waypoint_follower::WaitAtWaypoint"
                          enabled: True
                          waypoint_pause_duration: 200

                          velocity_smoother:
                          ros__parameters:
                          use_sim_time: false
                          smoothing_frequency: 20.0
                          scale_velocities: False
                          feedback: "OPEN_LOOP"
                          max_velocity: [0.26, 0.0, 1.0]
                          min_velocity: [-0.26, 0.0, -1.0]
                          max_accel: [2.5, 0.0, 3.2]
                          max_decel: [-2.5, 0.0, -3.2]
                          odom_topic: "odom"
                          odom_duration: 0.1
                          deadband_velocity: [0.0, 0.0, 0.0]
                          velocity_timeout: 1.0

                          1 条回复 最后回复 回复 引用 0
                          • 12818578961
                            1281857896 @小鱼
                            最后由 编辑

                            @小鱼 不好意思，这个没考虑到

                            小鱼小 1 条回复 最后回复 回复 引用 0
                            • 小鱼小
                              小鱼 技术大佬 @1281857896
                              最后由 编辑

                              @1281857896 这个参数是哪里来的

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

                              12818578961 1 条回复 最后回复 回复 引用 0
                              • 12818578961
                                1281857896 @小鱼
                                最后由 编辑

                                @小鱼 第17章建图与导航实践 fishbot导航实现 fishbot导航实现那块安装了nav2功能包，然后从功能包里复制出来的参数就这么多，我刚打开功能包确实是这些参数
                                复制的时候用的下面这个命令
                                cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml src/fishbot_navigation2/config

                                小鱼小 1 条回复 最后回复 回复 引用 0
                                • 小鱼小
                                  小鱼 技术大佬 @1281857896
                                  最后由 编辑

                                  @1281857896 你从快速上手教程里拷贝试试，或者直接用快速上手教程里的导航配置跑跑，看看能不能跑起来

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

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

                                    @小鱼 有些参数不一样

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

                                    小鱼小 12818578961 2 条回复 最后回复 回复 引用 0
                                    • 小鱼小
                                      小鱼 技术大佬 @小鱼
                                      最后由 编辑

                                      @小鱼

                                      amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

amcl_map_client:
  ros__parameters:
    use_sim_time: False

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    controller_plugins: ["FollowPath"]

    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.22
      max_vel_y: 0.0
      max_vel_theta: 0.8
      min_speed_xy: 0.0
      max_speed_xy: 0.44
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 0.2
      decel_lim_x: -0.5
      decel_lim_y: 0.0
      decel_lim_theta: -0.5
      vx_samples: 20
      vy_samples: 0
      vtheta_samples: 40
      sim_time: 1.5
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.05
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.1
      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        inflation_radius: 0.2
        cost_scaling_factor: 3.0
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: pointcloud
        pointcloud:
          topic: /intel_realsense_r200_depth/points
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      robot_radius: 0.1
      resolution: 0.05
      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: pointcloud
        pointcloud:
          topic: /intel_realsense_r200_depth/points
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 1.0
        inflation_radius: 0.55
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: False
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

map_server:
  ros__parameters:
    use_sim_time: False
    yaml_filename: "turtlebot3_world.yaml"

map_saver:
  ros__parameters:
    use_sim_time: False
    save_map_timeout: 5000
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: False
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

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

                                      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/

                                            1 条回复 最后回复 回复 引用 0
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