先測試一下雷達，記錄數據。方便接下來分析源碼。

1.roslaunch robot_navigation lidar.launch

@robot:~$ roslaunch robot_navigation lidar.launch ... logging to /home/jym/.ros/log/7136849a-92cc-11ec-acff-ac8247315e93/roslaunch-robot-9556.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.110:41393/SUMMARY ========PARAMETERS* /rosdistro: melodic* /rosversion: 1.14.10* /rplidarNode/angle_compensate: True* /rplidarNode/frame_id: base_laser_link* /rplidarNode/inverted: False* /rplidarNode/serial_baudrate: 115200* /rplidarNode/serial_port: /dev/rplidar* /rplidarNode/smart_control: TrueNODES/base_footprint_to_laser (tf/static_transform_publisher)rplidarNode (rplidar_ros/rplidarNode)auto-starting new master process[master]: started with pid [9566] ROS_MASTER_URI=http://192.168.0.110:11311setting /run_id to 7136849a-92cc-11ec-acff-ac8247315e93 process[rosout-1]: started with pid [9588] started core service [/rosout] process[rplidarNode-2]: started with pid [9591] process[base_footprint_to_laser-3]: started with pid [9593] [ INFO] [1645416734.958421258]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 RPLIDAR S/N: B2BA9A86C0E09CC7A2E09DF720683077 [ INFO] [1645416737.467053046]: Firmware Ver: 1.29 [ INFO] [1645416737.467136487]: Hardware Rev: 7 [ INFO] [1645416737.468602280]: RPLidar health status : 0 [ INFO] [1645416737.513749572]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2 @robot:~$ rostopic list /rosout /rosout_agg /scan /tf@ubuntu:~$ rostopic info /tf Type: tf2_msgs/TFMessagePublishers: * /base_footprint_to_laser (http://192.168.0.110:34067/)Subscribers: None@ubuntu:~$ rostopic info /scan Type: sensor_msgs/LaserScanPublishers: * /rplidarNode (http://192.168.0.110:43615/)Subscribers: None@ubuntu:~$ rostopic echo /tf transforms: - header: seq: 0stamp: secs: 1645416938nsecs: 168626559frame_id: "/base_footprint"child_frame_id: "base_laser_link"transform: translation: x: 0.1037y: 0.0z: 0.165rotation: x: 0.0y: 0.0z: 1.0w: 1.79489651492e-09 --- transforms: - header: seq: 0stamp: secs: 1645416938nsecs: 188753740frame_id: "/base_footprint"child_frame_id: "base_laser_link"transform: translation: x: 0.1037y: 0.0z: 0.165rotation: x: 0.0y: 0.0z: 1.0w: 1.79489651492e-09 --- @ubuntu:~$ rostopic echo /scan header: seq: 3341stamp: secs: 1645416999nsecs: 820906601frame_id: "base_laser_link" angle_min: -3.12413907051 angle_max: 3.14159274101 angle_increment: 0.00871450919658 time_increment: 0.000101421544969 scan_time: 0.0729220882058 range_min: 0.15000000596 range_max: 12.0 ranges: [0.7699999809265137, 省略，0.7720000147819519] intensities: [47.0, 省略,47.0] --- header: seq: 3342stamp: secs: 1645416999nsecs: 894679719frame_id: "base_laser_link" angle_min: -3.12413907051 angle_max: 3.14159274101 angle_increment: 0.00871450919658 time_increment: 0.000118369433039 scan_time: 0.0851076245308 range_min: 0.15000000596 range_max: 12.0 ranges: [0.7699999809265137,...省略,inf] intensities: [47.0, 47.0,....省略, 0.0] ---

一部分ranges：

一部分intensities：

2.roslaunch robot_navigation lidar_rviz.launch

@ubuntu:~$ roslaunch robot_navigation lidar_rviz.launch ... logging to /home/jym/.ros/log/7136849a-92cc-11ec-acff-ac8247315e93/roslaunch-ubuntu-3100.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.117:41259/SUMMARY ========PARAMETERS* /rosdistro: melodic* /rosversion: 1.14.10NODES/rviz (rviz/rviz)ROS_MASTER_URI=http://192.168.0.110:11311process[rviz-1]: started with pid [3113]

3.roslaunch robot_navigation robot_slam_laser.launch

@robot:~$ roslaunch robot_navigation robot_slam_laser.launch ... logging to /home/jym/.ros/log/a8ed1e48-92cd-11ec-8c26-ac8247315e93/roslaunch-robot-12482.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.110:38585/SUMMARY ========PARAMETERS* /base_control/ackermann_cmd_topic: ackermann_cmd* /base_control/base_id: base_footprint* /base_control/battery_topic: battery* /base_control/baudrate: 115200* /base_control/cmd_vel_topic: cmd_vel* /base_control/imu_id: imu* /base_control/imu_topic: imu* /base_control/odom_id: odom* /base_control/odom_topic: odom* /base_control/port: /dev/move_base* /base_control/pub_imu: False* /base_control/pub_sonar: False* /base_control/sub_ackermann: False* /gmapping/angularUpdate: 0.2* /gmapping/astep: 0.05* /gmapping/base_frame: base_footprint* /gmapping/delta: 0.05* /gmapping/iterations: 5* /gmapping/kernelSize: 1* /gmapping/lasamplerange: 0.005* /gmapping/lasamplestep: 0.005* /gmapping/linearUpdate: 1.0* /gmapping/llsamplerange: 0.01* /gmapping/llsamplestep: 0.01* /gmapping/lsigma: 0.075* /gmapping/lskip: 0* /gmapping/lstep: 0.05* /gmapping/map_frame: map* /gmapping/map_update_interval: 2.0* /gmapping/maxUrange: 5.0* /gmapping/minimumScore: 50* /gmapping/odom_frame: odom* /gmapping/ogain: 3.0* /gmapping/particles: 100* /gmapping/resampleThreshold: 0.5* /gmapping/sigma: 0.05* /gmapping/srr: 0.1* /gmapping/srt: 0.2* /gmapping/str: 0.1* /gmapping/stt: 0.2* /gmapping/temporalUpdate: 0.5* /gmapping/xmax: 10.0* /gmapping/xmin: -10.0* /gmapping/ymax: 10.0* /gmapping/ymin: -10.0* /rosdistro: melodic* /rosversion: 1.14.10* /rplidarNode/angle_compensate: True* /rplidarNode/frame_id: base_laser_link* /rplidarNode/inverted: False* /rplidarNode/serial_baudrate: 115200* /rplidarNode/serial_port: /dev/rplidar* /rplidarNode/smart_control: True* /use_sim_time: FalseNODES/base_control (base_control/base_control.py)base_footprint_to_laser (tf/static_transform_publisher)gmapping (gmapping/slam_gmapping)rplidarNode (rplidar_ros/rplidarNode)auto-starting new master process[master]: started with pid [12492] ROS_MASTER_URI=http://192.168.0.110:11311setting /run_id to a8ed1e48-92cd-11ec-8c26-ac8247315e93 process[rosout-1]: started with pid [12504] started core service [/rosout] process[base_control-2]: started with pid [12512] process[rplidarNode-3]: started with pid [12513] process[base_footprint_to_laser-4]: started with pid [12514] [ INFO] [1645417257.540586416]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 process[gmapping-5]: started with pid [12520] RPLIDAR S/N: B2BA9A86C0E09CC7A2E09DF720683077 [ INFO] [1645417260.051225194]: Firmware Ver: 1.29 [ INFO] [1645417260.051379306]: Hardware Rev: 7 [ INFO] [1645417260.052906823]: RPLidar health status : 0 [ INFO] [1645417260.102903048]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2 [INFO] [1645417260.503548]: NanoCar_Pro base control ... [INFO] [1645417260.528157]: Opening Serial [INFO] [1645417260.531035]: Serial Open Succeed [INFO] [1645417261.110526]: Move Base Hardware Ver 2.1.0,Firmware Ver 2.1.3 [INFO] [1645417261.184878]: SN:002b00413138511532323338 [INFO] [1645417261.195020]: Type:RC_ACKERMAN Motor:RS365 Ratio:11.0 WheelDiameter:72.0 [ INFO] [1645417261.393525561]: Laser is mounted upwards.-maxUrange 5 -maxUrange 11.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05-srr 0.1 -srt 0.2 -str 0.1 -stt 0.2-linearUpdate 1 -angularUpdate 0.2 -resampleThreshold 0.5-xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.05 -particles 100 [ INFO] [1645417261.399562302]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 0 Registering First Scan update frame 7 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 1 Average Scan Matching Score=441.909 neff= 100 Registering Scans:Done update frame 8 update ld=1.38778e-17 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 2 Average Scan Matching Score=458.721 neff= 100 Registering Scans:Done update frame 9 update ld=1.38778e-17 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 3 Average Scan Matching Score=451.226 neff= 100 Registering Scans:Done update frame 10 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 4 Average Scan Matching Score=463.392 neff= 100 Registering Scans:Done update frame 11 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 5 ^C[gmapping-5] killing on exit [base_footprint_to_laser-4] killing on exit [rplidarNode-3] killing on exit [base_control-2] killing on exit Average Scan Matching Score=443.591 neff= 100 Registering Scans:Done update frame 12 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 6 Average Scan Matching Score=448.561 neff= 100 Registering Scans:Done virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done @robot:~$ rostopic list /battery /cmd_vel /gmapping/entropy /map /map_metadata /odom /rosout /rosout_agg /scan /tf /tf_static

4.roslaunch robot_navigation slam_rviz.launch

@ubuntu:~$ roslaunch robot_navigation slam_rviz.launch ... logging to /home/jym/.ros/log/fd795bf2-92cd-11ec-a7fa-ac8247315e93/roslaunch-ubuntu-3189.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.117:37773/SUMMARY ========PARAMETERS* /rosdistro: melodic* /rosversion: 1.14.10NODES/rviz (rviz/rviz)ROS_MASTER_URI=http://192.168.0.110:11311process[rviz-1]: started with pid [3198]

@ubuntu:~$ rostopic list /battery /clicked_point /cmd_vel /exploration_polygon_marker /exploration_polygon_marker_array /gmapping/entropy /initialpose /map /map_metadata /map_updates /move_base/NavfnROS/plan /move_base_simple/goal /odom /rosout /rosout_agg /scan /tf /tf_static @ubuntu:~$ rosrun rqt_tf_tree rqt_tf_tree

@ubuntu:~$ rosrun rqt_graph rqt_graph

黑色邊框部分是實際地形中的墻壁，地圖四周邊界已經全部閉合或者想要保存地圖時候。 robot: roscd robot_navigation/maps rosrun map_server map_saver -f map @robot:~$ roscd robot_navigation/maps @robot:~/catkin_ws/src/robot_navigation/maps$ ls cartographer.pgm gmapping.pgm hector.pgm karto.pgm map.pgm cartographer.yaml gmapping.yaml hector.yaml karto.yaml map.yaml @robot:~/catkin_ws/src/robot_navigation/maps$ vim map.yaml打開看到： image: map.pgm resolution: 0.050000 origin: [-10.000000, -10.000000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196 @robot:~/catkin_ws/src/robot_navigation/maps$ rosrun map_server map_saver -f map [ INFO] [1645418348.405455319]: Waiting for the map [ INFO] [1645418348.606461007]: Received a 384 X 384 map @ 0.050 m/pix [ INFO] [1645418348.606572677]: Writing map occupancy data to map.pgm [ INFO] [1645418348.620467557]: Writing map occupancy data to map.yaml [ INFO] [1645418348.620892465]: Done

5.roslaunch robot_navigation robot_navigation.launch

@robot:~$ roslaunch robot_navigation robot_navigation.launch ... logging to /home/jym/.ros/log/d7006d78-92d0-11ec-a74f-ac8247315e93/roslaunch-robot-19558.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.110:34203/SUMMARY ========PARAMETERS* /amcl/aser_z_short: 0.05* /amcl/base_frame_id: base_footprint* /amcl/global_frame_id: map* /amcl/gui_publish_rate: 10.0* /amcl/initial_pose_a: 0.0* /amcl/initial_pose_x: 0.0* /amcl/initial_pose_y: 0.0* /amcl/kld_err: 0.05* /amcl/kld_z: 0.99* /amcl/laser_lambda_short: 0.1* /amcl/laser_likelihood_max_dist: 2.0* /amcl/laser_max_beams: 60* /amcl/laser_max_range: 12.0* /amcl/laser_model_type: likelihood_field* /amcl/laser_sigma_hit: 0.2* /amcl/laser_z_hit: 0.5* /amcl/laser_z_max: 0.05* /amcl/laser_z_rand: 0.5* /amcl/max_particles: 2000* /amcl/min_particles: 500* /amcl/odom_alpha1: 0.2* /amcl/odom_alpha2: 0.2* /amcl/odom_alpha3: 0.2* /amcl/odom_alpha4: 0.2* /amcl/odom_alpha5: 0.1* /amcl/odom_frame_id: odom* /amcl/odom_model_type: diff* /amcl/recovery_alpha_fast: 0.1* /amcl/recovery_alpha_slow: 0.001* /amcl/resample_interval: 1* /amcl/transform_tolerance: 1.0* /amcl/update_min_a: 0.2* /amcl/update_min_d: 0.25* /amcl/use_map_topic: True* /base_control/ackermann_cmd_topic: ackermann_cmd* /base_control/base_id: base_footprint* /base_control/battery_topic: battery* /base_control/baudrate: 115200* /base_control/cmd_vel_topic: cmd_vel* /base_control/imu_id: imu* /base_control/imu_topic: imu* /base_control/odom_id: odom* /base_control/odom_topic: odom* /base_control/port: /dev/move_base* /base_control/pub_imu: False* /base_control/pub_sonar: False* /base_control/sub_ackermann: False* /map_server/frame_id: map* /move_base/GlobalPlanner/use_dijkstra: True* /move_base/TebLocalPlannerROS/acc_lim_theta: 0.5* /move_base/TebLocalPlannerROS/acc_lim_x: 0.5* /move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True* /move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False* /move_base/TebLocalPlannerROS/complete_global_plan: True* /move_base/TebLocalPlannerROS/costmap_converter_plugin: * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5* /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True* /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.5* /move_base/TebLocalPlannerROS/delete_detours_backwards: True* /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1* /move_base/TebLocalPlannerROS/dt_ref: 0.3* /move_base/TebLocalPlannerROS/dynamic_obstacle_inflation_dist: 0.6* /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False* /move_base/TebLocalPlannerROS/enable_multithreading: True* /move_base/TebLocalPlannerROS/exact_arc_length: False* /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 2* /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.1, 0.0]* /move_base/TebLocalPlannerROS/footprint_model/line_start: [0.05, 0.0]* /move_base/TebLocalPlannerROS/footprint_model/type: line* /move_base/TebLocalPlannerROS/free_goal_vel: False* /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True* /move_base/TebLocalPlannerROS/global_plan_prune_distance: 1* /move_base/TebLocalPlannerROS/global_plan_viapoint_sep: -1* /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5* /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1* /move_base/TebLocalPlannerROS/include_costmap_obstacles: True* /move_base/TebLocalPlannerROS/include_dynamic_obstacles: True* /move_base/TebLocalPlannerROS/inflation_dist: 0.6* /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 3.0* /move_base/TebLocalPlannerROS/max_number_classes: 4* /move_base/TebLocalPlannerROS/max_ratio_detours_duration_best_duration: 3.0* /move_base/TebLocalPlannerROS/max_samples: 500* /move_base/TebLocalPlannerROS/max_vel_theta: 0.53* /move_base/TebLocalPlannerROS/max_vel_x: 0.2* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.2* /move_base/TebLocalPlannerROS/max_vel_y: 0.0* /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.12* /move_base/TebLocalPlannerROS/min_turning_radius: 0.375* /move_base/TebLocalPlannerROS/no_inner_iterations: 5* /move_base/TebLocalPlannerROS/no_outer_iterations: 4* /move_base/TebLocalPlannerROS/obstacle_cost_exponent: 4* /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45* /move_base/TebLocalPlannerROS/obstacle_poses_affected: 15* /move_base/TebLocalPlannerROS/odom_topic: odom* /move_base/TebLocalPlannerROS/optimization_activate: True* /move_base/TebLocalPlannerROS/optimization_verbose: False* /move_base/TebLocalPlannerROS/oscillation_filter_duration: 10* /move_base/TebLocalPlannerROS/oscillation_omega_eps: 0.1* /move_base/TebLocalPlannerROS/oscillation_recovery: False* /move_base/TebLocalPlannerROS/oscillation_recovery_min_duration: 10* /move_base/TebLocalPlannerROS/oscillation_v_eps: 0.1* /move_base/TebLocalPlannerROS/penalty_epsilon: 0.1* /move_base/TebLocalPlannerROS/publish_feedback: False* /move_base/TebLocalPlannerROS/roadmap_graph_area_length_scale: 1.0* /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5* /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15* /move_base/TebLocalPlannerROS/selection_alternative_time_cost: False* /move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0* /move_base/TebLocalPlannerROS/selection_obst_cost_scale: 1.0* /move_base/TebLocalPlannerROS/selection_prefer_initial_plan: 0.95* /move_base/TebLocalPlannerROS/shrink_horizon_backup: True* /move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 10* /move_base/TebLocalPlannerROS/switching_blocking_period: 0.0* /move_base/TebLocalPlannerROS/teb_autosize: True* /move_base/TebLocalPlannerROS/viapoints_all_candidates: True* /move_base/TebLocalPlannerROS/visualize_hc_graph: False* /move_base/TebLocalPlannerROS/visualize_with_time_as_z_axis_scale: False* /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1* /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1* /move_base/TebLocalPlannerROS/weight_adapt_factor: 2* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10* /move_base/TebLocalPlannerROS/weight_dynamic_obstacle_inflation: 0.2* /move_base/TebLocalPlannerROS/weight_inflation: 0.2* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000* /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1* /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1* /move_base/TebLocalPlannerROS/weight_max_vel_x: 2* /move_base/TebLocalPlannerROS/weight_obstacle: 100* /move_base/TebLocalPlannerROS/weight_optimaltime: 1* /move_base/TebLocalPlannerROS/weight_shortest_path: 0* /move_base/TebLocalPlannerROS/weight_viapoint: 1* /move_base/TebLocalPlannerROS/wheelbase: 0.145* /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.1* /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.2* /move_base/base_global_planner: global_planner/Gl...* /move_base/base_local_planner: teb_local_planner...* /move_base/clearing_rotation_allowed: False* /move_base/conservative_reset_dist: 0.2* /move_base/controller_frequency: 2.0* /move_base/controller_patience: 15.0* /move_base/global_costmap/footprint: [[-0.035, -0.1], ...* /move_base/global_costmap/global_frame: map* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0* /move_base/global_costmap/inflation_layer/enabled: True* /move_base/global_costmap/inflation_layer/inflation_radius: 0.1* /move_base/global_costmap/obstacle_layer/combination_method: 1* /move_base/global_costmap/obstacle_layer/enabled: True* /move_base/global_costmap/obstacle_layer/inflation_radius: 0.05* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/clearing: True* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/marking: True* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/topic: scan* /move_base/global_costmap/obstacle_layer/observation_sources: laser_scan_sensor* /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5* /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0* /move_base/global_costmap/obstacle_layer/track_unknown_space: False* /move_base/global_costmap/plugins: [{'type': 'costma...* /move_base/global_costmap/publish_frequency: 0.5* /move_base/global_costmap/robot_base_frame: base_footprint* /move_base/global_costmap/static_layer/enabled: True* /move_base/global_costmap/static_layer/map_topic: /map* /move_base/global_costmap/transform_tolerance: 0.5* /move_base/global_costmap/update_frequency: 1.0* /move_base/local_costmap/footprint: [[-0.035, -0.1], ...* /move_base/local_costmap/global_frame: map* /move_base/local_costmap/height: 3* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0* /move_base/local_costmap/inflation_layer/enabled: True* /move_base/local_costmap/inflation_layer/inflation_radius: 0.1* /move_base/local_costmap/obstacle_layer/combination_method: 1* /move_base/local_costmap/obstacle_layer/enabled: True* /move_base/local_costmap/obstacle_layer/inflation_radius: 0.05* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/clearing: True* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/marking: True* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/topic: scan* /move_base/local_costmap/obstacle_layer/observation_sources: laser_scan_sensor* /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5* /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0* /move_base/local_costmap/obstacle_layer/track_unknown_space: False* /move_base/local_costmap/plugins: [{'type': 'costma...* /move_base/local_costmap/publish_frequency: 5.0* /move_base/local_costmap/resolution: 0.05* /move_base/local_costmap/robot_base_frame: base_footprint* /move_base/local_costmap/rolling_window: True* /move_base/local_costmap/static_layer/enabled: True* /move_base/local_costmap/static_layer/map_topic: /map* /move_base/local_costmap/transform_tolerance: 0.5* /move_base/local_costmap/update_frequency: 5.0* /move_base/local_costmap/width: 3* /move_base/oscillation_distance: 0.2* /move_base/oscillation_timeout: 10.0* /move_base/planner_frequency: 0.2* /move_base/planner_patience: 5.0* /rosdistro: melodic* /rosversion: 1.14.10* /rplidarNode/angle_compensate: True* /rplidarNode/frame_id: base_laser_link* /rplidarNode/inverted: False* /rplidarNode/serial_baudrate: 115200* /rplidarNode/serial_port: /dev/rplidar* /rplidarNode/smart_control: TrueNODES/amcl (amcl/amcl)base_control (base_control/base_control.py)base_footprint_to_laser (tf/static_transform_publisher)map_server (map_server/map_server)move_base (move_base/move_base)rplidarNode (rplidar_ros/rplidarNode)auto-starting new master process[master]: started with pid [19568] ROS_MASTER_URI=http://192.168.0.110:11311setting /run_id to d7006d78-92d0-11ec-a74f-ac8247315e93 process[rosout-1]: started with pid [19580] started core service [/rosout] process[base_control-2]: started with pid [19588] process[rplidarNode-3]: started with pid [19589] process[base_footprint_to_laser-4]: started with pid [19590] [ INFO] [1645418623.654897278]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 process[map_server-5]: started with pid [19597] process[amcl-6]: started with pid [19603] process[move_base-7]: started with pid [19604] [ INFO] [1645418624.119418253]: Subscribed to map topic. [ INFO] [1645418624.297830472]: Received a 384 X 384 map @ 0.050 m/pix[ INFO] [1645418624.318718895]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1645418624.332496936]: Done initializing likelihood field model. [INFO] [1645418626.164512]: NanoCar_Pro base control ... RPLIDAR S/N: B2BA9A86C0E09CC7A2E09DF720683077 [ INFO] [1645418626.166586242]: Firmware Ver: 1.29 [ INFO] [1645418626.166672338]: Hardware Rev: 7 [ INFO] [1645418626.168322547]: RPLidar health status : 0 [INFO] [1645418626.191463]: Opening Serial [INFO] [1645418626.194629]: Serial Open Succeed [ INFO] [1645418626.214124208]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2 [INFO] [1645418626.643383]: Move Base Hardware Ver 2.1.0,Firmware Ver 2.1.3 [INFO] [1645418626.709617]: SN:002b00413138511532323338 [INFO] [1645418626.714842]: Type:RC_ACKERMAN Motor:RS365 Ratio:11.0 WheelDiameter:72.0 [ INFO] [1645418628.458355880]: global_costmap: Using plugin "static_layer" [ INFO] [1645418628.501041558]: Requesting the map... [ INFO] [1645418628.706626676]: Resizing costmap to 384 X 384 at 0.050000 m/pix [ INFO] [1645418628.806309371]: Received a 384 X 384 map at 0.050000 m/pix [ INFO] [1645418628.815022252]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1645418628.832882923]: Subscribed to Topics: laser_scan_sensor [ INFO] [1645418628.910960088]: global_costmap: Using plugin "inflation_layer" [ INFO] [1645418629.075856311]: local_costmap: Using plugin "static_layer" [ INFO] [1645418629.090986271]: Requesting the map... [ INFO] [1645418629.099615764]: Resizing static layer to 384 X 384 at 0.050000 m/pix [ INFO] [1645418629.198297959]: Received a 384 X 384 map at 0.050000 m/pix [ INFO] [1645418629.208358226]: local_costmap: Using plugin "obstacle_layer" [ INFO] [1645418629.219131901]: Subscribed to Topics: laser_scan_sensor [ INFO] [1645418629.379627152]: Created local_planner teb_local_planner/TebLocalPlannerROS [ INFO] [1645418629.552605769]: Footprint model 'line' (line_start: [0.05,0]m, line_end: [0.1,0]m) loaded for trajectory optimization. [ INFO] [1645418629.553394023]: Parallel planning in distinctive topologies disabled. [ INFO] [1645418629.553515537]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles. [ INFO] [1645418630.137914350]: Recovery behavior will clear layer 'obstacles' [ INFO] [1645418630.150906637]: Recovery behavior will clear layer 'obstacles' [ INFO] [1645418630.234827271]: odom received! jym@ubuntu:~$ rostopic list /amcl/parameter_descriptions /amcl/parameter_updates /amcl_pose /battery /cmd_vel /diagnostics /initialpose /map /map_metadata /move_base/GlobalPlanner/parameter_descriptions /move_base/GlobalPlanner/parameter_updates /move_base/GlobalPlanner/plan /move_base/GlobalPlanner/potential /move_base/TebLocalPlannerROS/global_plan /move_base/TebLocalPlannerROS/local_plan /move_base/TebLocalPlannerROS/obstacles /move_base/TebLocalPlannerROS/parameter_descriptions /move_base/TebLocalPlannerROS/parameter_updates /move_base/TebLocalPlannerROS/teb_feedback /move_base/TebLocalPlannerROS/teb_markers /move_base/TebLocalPlannerROS/teb_poses /move_base/TebLocalPlannerROS/via_points /move_base/cancel /move_base/current_goal /move_base/feedback /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/clearing_endpoints /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base/parameter_descriptions /move_base/parameter_updates /move_base/result /move_base/status /move_base_simple/goal /odom /particlecloud /rosout /rosout_agg /scan /tf /tf_static

roslaunch robot_navigation navigation_rviz.launch

@ubuntu:~$ roslaunch robot_navigation navigation_rviz.launch ... logging to /home/jym/.ros/log/d7006d78-92d0-11ec-a74f-ac8247315e93/roslaunch-ubuntu-3577.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.117:43839/SUMMARY ========PARAMETERS* /rosdistro: melodic* /rosversion: 1.14.10NODES/rviz (rviz/rviz)ROS_MASTER_URI=http://192.168.0.110:11311process[rviz-1]: started with pid [3586]

@ubuntu:~$ rostopic list /amcl/parameter_descriptions /amcl/parameter_updates /amcl_pose /battery /clicked_point /cmd_vel /diagnostics /initialpose /map /map_metadata /map_updates /move_base/DWAPlannerROS/cost_cloud /move_base/DWAPlannerROS/global_plan /move_base/DWAPlannerROS/local_plan /move_base/DWAPlannerROS/trajectory_cloud /move_base/GlobalPlanner/parameter_descriptions /move_base/GlobalPlanner/parameter_updates /move_base/GlobalPlanner/plan /move_base/GlobalPlanner/potential /move_base/GlobalPlanner/potential_updates /move_base/TebLocalPlannerROS/global_plan /move_base/TebLocalPlannerROS/local_plan /move_base/TebLocalPlannerROS/obstacles /move_base/TebLocalPlannerROS/parameter_descriptions /move_base/TebLocalPlannerROS/parameter_updates /move_base/TebLocalPlannerROS/teb_feedback /move_base/TebLocalPlannerROS/teb_markers /move_base/TebLocalPlannerROS/teb_poses /move_base/TebLocalPlannerROS/via_points /move_base/cancel /move_base/current_goal /move_base/feedback /move_base/global_costmap/costmap /move_base/global_costmap/costmap_updates /move_base/global_costmap/footprint /move_base/global_costmap/inflation_layer/parameter_descriptions /move_base/global_costmap/inflation_layer/parameter_updates /move_base/global_costmap/obstacle_layer/clearing_endpoints /move_base/global_costmap/obstacle_layer/parameter_descriptions /move_base/global_costmap/obstacle_layer/parameter_updates /move_base/global_costmap/parameter_descriptions /move_base/global_costmap/parameter_updates /move_base/global_costmap/static_layer/parameter_descriptions /move_base/global_costmap/static_layer/parameter_updates /move_base/goal /move_base/local_costmap/costmap /move_base/local_costmap/costmap_updates /move_base/local_costmap/footprint /move_base/local_costmap/obstacle_layer/parameter_descriptions /move_base/local_costmap/obstacle_layer/parameter_updates /move_base/local_costmap/parameter_descriptions /move_base/local_costmap/parameter_updates /move_base/local_costmap/static_layer/parameter_descriptions /move_base/local_costmap/static_layer/parameter_updates /move_base/parameter_descriptions /move_base/parameter_updates /move_base/result /move_base/status /move_base_simple/goal /odom /particlecloud /path_point /rosout /rosout_agg /scan /tf /tf_static @ubuntu:~$ rosrun rqt_graph rqt_graph

pc:rviz：2D Nav Goal設置導航目標。按下鼠標左鍵指定目標點方向，松開鼠標，執行導航任務。 robot： [ WARN] [1645419212.414525914]: Clearing both costmaps to unstuck robot (0.20m). [ INFO] [1645419227.414547893]: GOAL Reached! 到達指定目標點，過程中具有路徑規劃和避障功能。

@ubuntu:~$ rosnode list /amcl /base_control /base_footprint_to_laser /map_server /move_base /rosout /rplidarNode /rviz @ubuntu:~$ rostopic echo /amcl_pose header: seq: 9stamp: secs: 1645419587nsecs: 722414364frame_id: "map" pose: pose: position: x: 0.122417531975y: -0.138680257969z: 0.0orientation: x: 0.0y: 0.0z: 0.214837962559w: 0.976649706826covariance: [0.029971075946912572, 0.008297713726329774, 0.0, 0.0, 0.0, 0.0, 0.008297713726329772, 0.027946463969230503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06360104777578718] ---

roslaunch robot_navigation robot_slam_laser.launch

@robot:~$ roslaunch robot_navigation robot_slam_laser.launch ... logging to /home/jym/.ros/log/0d9eb03a-92d4-11ec-93b6-ac8247315e93/roslaunch-robot-26850.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.started roslaunch server http://192.168.0.110:34605/SUMMARY ========PARAMETERS* /base_control/ackermann_cmd_topic: ackermann_cmd* /base_control/base_id: base_footprint* /base_control/battery_topic: battery* /base_control/baudrate: 115200* /base_control/cmd_vel_topic: cmd_vel* /base_control/imu_id: imu* /base_control/imu_topic: imu* /base_control/odom_id: odom* /base_control/odom_topic: odom* /base_control/port: /dev/move_base* /base_control/pub_imu: False* /base_control/pub_sonar: False* /base_control/sub_ackermann: False* /gmapping/angularUpdate: 0.2* /gmapping/astep: 0.05* /gmapping/base_frame: base_footprint* /gmapping/delta: 0.05* /gmapping/iterations: 5* /gmapping/kernelSize: 1* /gmapping/lasamplerange: 0.005* /gmapping/lasamplestep: 0.005* /gmapping/linearUpdate: 1.0* /gmapping/llsamplerange: 0.01* /gmapping/llsamplestep: 0.01* /gmapping/lsigma: 0.075* /gmapping/lskip: 0* /gmapping/lstep: 0.05* /gmapping/map_frame: map* /gmapping/map_update_interval: 2.0* /gmapping/maxUrange: 5.0* /gmapping/minimumScore: 50* /gmapping/odom_frame: odom* /gmapping/ogain: 3.0* /gmapping/particles: 100* /gmapping/resampleThreshold: 0.5* /gmapping/sigma: 0.05* /gmapping/srr: 0.1* /gmapping/srt: 0.2* /gmapping/str: 0.1* /gmapping/stt: 0.2* /gmapping/temporalUpdate: 0.5* /gmapping/xmax: 10.0* /gmapping/xmin: -10.0* /gmapping/ymax: 10.0* /gmapping/ymin: -10.0* /rosdistro: melodic* /rosversion: 1.14.10* /rplidarNode/angle_compensate: True* /rplidarNode/frame_id: base_laser_link* /rplidarNode/inverted: False* /rplidarNode/serial_baudrate: 115200* /rplidarNode/serial_port: /dev/rplidar* /rplidarNode/smart_control: True* /use_sim_time: FalseNODES/base_control (base_control/base_control.py)base_footprint_to_laser (tf/static_transform_publisher)gmapping (gmapping/slam_gmapping)rplidarNode (rplidar_ros/rplidarNode)auto-starting new master process[master]: started with pid [26860] ROS_MASTER_URI=http://192.168.0.110:11311setting /run_id to 0d9eb03a-92d4-11ec-93b6-ac8247315e93 process[rosout-1]: started with pid [26872] started core service [/rosout] process[base_control-2]: started with pid [26880] process[rplidarNode-3]: started with pid [26881] process[base_footprint_to_laser-4]: started with pid [26882] [ INFO] [1645420003.466982431]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 process[gmapping-5]: started with pid [26888] [INFO] [1645420005.904613]: NanoCar_Pro base control ... [INFO] [1645420005.930990]: Opening Serial [INFO] [1645420005.934433]: Serial Open Succeed RPLIDAR S/N: B2BA9A86C0E09CC7A2E09DF720683077 [ INFO] [1645420005.990420997]: Firmware Ver: 1.29 [ INFO] [1645420005.990503339]: Hardware Rev: 7 [ INFO] [1645420005.991967162]: RPLidar health status : 0 [ INFO] [1645420006.037426077]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2 [INFO] [1645420006.511063]: Move Base Hardware Ver 2.1.0,Firmware Ver 2.1.3 [INFO] [1645420006.584277]: SN:002b00413138511532323338 [INFO] [1645420006.588490]: Type:RC_ACKERMAN Motor:RS365 Ratio:11.0 WheelDiameter:72.0 [ INFO] [1645420007.293346325]: Laser is mounted upwards.-maxUrange 5 -maxUrange 11.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05-srr 0.1 -srt 0.2 -str 0.1 -stt 0.2-linearUpdate 1 -angularUpdate 0.2 -resampleThreshold 0.5-xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.05 -particles 100 [ INFO] [1645420007.299853112]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 0 Registering First Scan update frame 7 update ld=1.38778e-17 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 1 Average Scan Matching Score=478.584 neff= 100 Registering Scans:Done update frame 8 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 2 Average Scan Matching Score=454.423 neff= 100 Registering Scans:Done update frame 9 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 3 Average Scan Matching Score=470.991 neff= 100 Registering Scans:Done update frame 10 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 4 Average Scan Matching Score=456.326 neff= 100 Registering Scans:Done update frame 11 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 5 ^C[gmapping-5] killing on exit [rplidarNode-3] killing on exit [base_footprint_to_laser-4] killing on exit [base_control-2] killing on exit Average Scan Matching Score=468.525 neff= 100 Registering Scans:Done update frame 12 update ld=0 ad=0 Laser Pose= 0.1037 0 -3.13287 m_count 6 Average Scan Matching Score=457.468 neff= 100 Registering Scans:Done virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done gmapping 是機器人的建圖算法節點。 rplidarNode是雷達節點。 base_footprint_to_laser是激光雷達到底盤的坐標轉換節點。 base_control是底盤控制節點。 @ubuntu:~$ rosnode list /base_control /base_footprint_to_laser /gmapping /rosout /rplidarNode @ubuntu:~$ rostopic list /battery /cmd_vel /gmapping/entropy /map /map_metadata /odom /rosout /rosout_agg /scan /tf /tf_static

@ubuntu:~$ rostopic info /map Type: nav_msgs/OccupancyGridPublishers: * /gmapping (http://192.168.0.110:38195/)Subscribers: None@ubuntu:~$ rostopic echo /map 出現一堆

@ubuntu:~$ rostopic info /gmapping/entropy Type: std_msgs/Float64Publishers: * /gmapping (http://192.168.0.110:38195/)Subscribers: None@ubuntu:~$ rostopic echo /gmapping/entropy data: 4.60516902161 --- data: 4.60516902835 --- data: 4.60516903552 --- data: 4.60516903771 --- 有cartographer、hector、karto、gmapping 四種常見的建圖算法。切換： robot：缺省為gmappingroslaunch robot_navigation robot_slam_laser.launch slam_methods:=hectorroslaunch robot_navigation robot_slam_laser.launch slam_methods:=cartographerroslaunch robot_navigation robot_slam_laser.launch slam_methods:=karto 全局路徑規劃是機器人起點和目標點之間的完整的路徑規劃。不是機器人可以立刻執行的路徑，比如阿克曼結構無法原地轉向。此時需用局部路徑規劃器對全局路徑規劃進行動態調整。局部路徑規劃算法:激光雷達導航:robot:roslaunch robot_navigation robot_navigation.launch默認使用的是 TEB 路徑規劃器，考慮到了機器人最小轉向半徑，適合阿克曼結構。roslaunch robot_navigation robot_slam_laser.launch planner:=tebdwa 算法可以實現原地轉，適合差速轉向結構。roslaunch robot_navigation robot_navigation.launch planner:=dwa無地圖場景下導航并建圖： robot:roslaunch robot_navigation robot_slam_laser.launch planner:=teb pc:roslaunch robot_navigation slam_rviz.launch pc:2D Nav Goal給定目標點，導航過程中不斷完善地圖。保存地圖： robot：roscd robot_navigation/maps robot：rosrun map_server map_saver -f map

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