ROS 自定義地圖加載和導航（turtlebot測試）

1、構建地圖

• 啓動turtlebot底盤

roslaunch turtlebot_bringup minimal.launch 

• 啓動傳感器（激光雷達和慣性導航）

roslaunch lms1xx LMS1xx.launch #啓動激光雷達

• 啓動hector slam

roslaunch lms1xx hector_mapping_demo.launch

• 啓動遠程遙控

roslaunch turtlebot_teleop keyboard_teleop.launch

• 啓動遙控xbox

  roslaunch turtlebot_teleop xbox360_teleop.launch
  ​
  ​
  #(1)<remap from="turtlebot_teleop_joystick/cmd_vel" #to="cmd_vel_mux/input/teleop"/>
  #(2) joy_node節點修改
  #<node pkg="joy" type="joy_node" name="joystick">
  #   <param name="dev" type="string" value="/dev/input/js0" />
  #   <param name="deadzone" value="0.12" />
  #  </node>
  

• 保存地圖

rosrun map_server map_saver -f ~/my_map

2、自定義地圖amcl導航

• 啓動turtlebot底盤

roslaunch turtlebot_bringup minimal.launch

• 啓動激光雷達

roslaunch turtlebot_navigation lms1xx.launch 

• 啓動amcl導航

roslaunch turtlebot_navigation lab_amcl_nomap.launch #不帶加載地圖，單獨加載

 

• 加載地圖

rosrun map_server map_server my_map.yaml

• rviz查看

  roslaunch turtlebot_navigation view_robot.launch 

   

3、問題

• （1）地圖顯示不正確

打開yaml文件

image: my_map.png
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

注意：

圖像像素值[0-255].

• If negate is false, p = (255 - x) / 255.0. This means that black (0) now has the highest value (1.0) and white (255) has the lowest (0.0).

• If negate is true, p = x / 255.0. This is the non-standard interpretation of images, which is why it is called negate, even though the math indicates that x is not negated. Nomenclature is hard.

一般negate爲0。

p = (255 - x) / 255.0

• If p > occupied_thresh（0.65，換算爲灰度值，約爲90，也就是說像素小於90爲佔用（障礙物））, output the value 100 to indicate the cell is occupied.

• If p < free_thresh（0.196，換算爲灰度值，約爲205，也就是說像素大於205爲空（自由空間站））, output the value 0 to indicate the cell is free.

• Otherwise, output -1 a.k.a. 255 (as an unsigned char), to indicate that the cell is unknown.

我通過hector保存的圖像自由空間的值爲200，顯示爲障礙物，所以出現上面圖像錯誤。