我自己写了一个定位的节点可以发布map->odom的tf转换。
我的机器人上面有里程计节点提供odom->base_link的tf转换。
因为我是直接使用平面图作为map的,不需要LIDAR来进行建图和定位,但是我不知道如何配置navigation.yaml.
我尝试调用nav2_bringup里的navigation.launch.py且使用了下面这个yaml文件:
# GPS WPF CHANGES:
# - amcl params where removed. They are not needed because global localization is provided
# by an ekf node on robot_localization fusing gps data with local odometry sources
# - static layer is removed from both costmaps, in this tutorial we assume there is no map
# of the environment
# - global costmap is set to be rolling to allow the robot to traverse big environment by
# following successive relatively close waypoints that fit in a smaller rolling costmap
bt_navigator:
ros__parameters:
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
# '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_are_error_codes_active_condition_bt_node
# - nav2_would_a_controller_recovery_help_condition_bt_node
# - nav2_would_a_planner_recovery_help_condition_bt_node
# - nav2_would_a_smoother_recovery_help_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
# error_code_names:
# - compute_path_error_code
# - follow_path_error_code
controller_server:
ros__parameters:
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_plugins: ["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
# GPS WPF CHANGE: Remove static layer
local_costmap:
local_costmap:
ros__parameters:
# update_frequency: 5.0
update_frequency: 10.0
# publish_frequency: 2.0
publish_frequency: 5.0
global_frame: odom
robot_base_frame: base_link
rolling_window: true
width: 3
height: 3
resolution: 0.05
# robot_radius: 0.22
robot_radius: 0.6
plugins: ["voxel_layer", "inflation_layer"]
# plugins: ["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
always_send_full_costmap: True
# GPS WPF CHANGE: Remove static layer
# GPS WPF CHANGE: Set rolling global costmap with 50x50 size. See note below
global_costmap:
global_costmap:
ros__parameters:
# update_frequency: 1.0
update_frequency: 20.0
# publish_frequency: 1.0
publish_frequency: 10.0
global_frame: map
robot_base_frame: base_link
# robot_radius: 0.22
robot_radius: 0.6
resolution: 0.1
# When using GPS navigation you will potentially traverse huge environments which are not practical to
# fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to
# contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174
rolling_window: True
# width: 50
width: 10
# height: 50
height: 10
track_unknown_space: true
# no static map
plugins: ["obstacle_layer", "inflation_layer"]
# plugins: ["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
# outdoors there will probably be more inf points
inf_is_valid: true
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
# ros__parameters:
# yaml_filename: ""
map_server:
ros__parameters:
# 这里是我的地图文件路径,路径没有问题,地图加载也没有,只是这里不方便暴露出来
yaml_filename: "turtlebot3_world.yaml"
topic_name: "/map"
frame_id: "map"
map_saver:
ros__parameters:
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
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
smoother_server:
ros__parameters:
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True
behavior_server:
ros__parameters:
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_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"
local_frame: odom
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
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
velocity_smoother:
ros__parameters:
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
启动后没有报错,但是我不清楚如何给它机器人的初始位姿和目标点的位姿,如果使用rviz2里的插件在map上给的话会有报错:
[planner_server-7] [WARN] [1698376103.809749922] [planner_server]: The goal sent to the planner is off the global costmap. Planning will always fail to this goal.
[planner_server-7] [WARN] [1698376103.810110705] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[planner_server-7] [WARN] [1698376103.810187956] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (6.39, -3.78)
[planner_server-7] [WARN] [1698376103.810229686] [planner_server_rclcpp_node]: [compute_path_to_pose] [ActionServer] Aborting handle.
我一开始以为是我的global_costmap大小太小没有把目标点也包含在内,但是之后我将global_costmap改大之后还是报同样的错误。
会不会是我那个自己写的定位节点除了发布map->odomtf转换之外还需要别的?