Nav2极简笔记01-安装与试用
【摘要】
安装
功能包：
ros-foxy-navigation2ros-foxy-nav2-bringupros-foxy-turtlebot3*
推荐使用新立得，例如nav2的地图服务器：
图形化安装适合初学者入门！
选择需要的包下载安装即可。
源码编译：
github中navigation2，按照官网流程说明...
安装
功能包：
- ros-foxy-navigation2
- ros-foxy-nav2-bringup
- ros-foxy-turtlebot3*
推荐使用新立得，例如nav2的地图服务器：
图形化安装适合初学者入门！
选择需要的包下载安装即可。
源码编译：
github中navigation2，按照官网流程说明配置安装，文档更新较快，为避免误导，不再赘述。
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ros@ros:~/RobCode/navigation2$ colcon build
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Starting >>> nav2_common
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Starting >>> nav_2d_msgs
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Starting >>> nav2_gazebo_spawner
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Finished <<< nav2_common [0.68s]
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Starting >>> nav2_msgs
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Starting >>> nav2_voxel_grid
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Finished <<< nav2_gazebo_spawner [0.72s]
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Finished <<< nav_2d_msgs [14.3s]
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Starting >>> dwb_msgs
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Finished <<< nav2_voxel_grid [33.6s]
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Finished <<< dwb_msgs [29.2s]
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Finished <<< nav2_msgs [53.0s]
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Starting >>> nav2_util
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[Processing: nav2_util]
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Finished <<< nav2_util [34.1s]
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Starting >>> nav_2d_utils
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Starting >>> nav2_behavior_tree
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Starting >>> nav2_lifecycle_manager
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Starting >>> nav2_map_server
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Starting >>> nav2_amcl
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Starting >>> nav2_waypoint_follower
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Finished <<< nav_2d_utils [19.4s]
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Finished <<< nav2_waypoint_follower [30.0s]
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Finished <<< nav2_lifecycle_manager [33.4s]
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Starting >>> nav2_rviz_plugins
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Finished <<< nav2_map_server [1min 1s]
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Starting >>> nav2_costmap_2d
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Finished <<< nav2_amcl [1min 7s]
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Finished <<< nav2_rviz_plugins [58.3s]
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[Processing: nav2_behavior_tree, nav2_costmap_2d]
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[Processing: nav2_behavior_tree, nav2_costmap_2d]
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Finished <<< nav2_behavior_tree [2min 58s]
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Starting >>> nav2_bt_navigator
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Finished <<< nav2_costmap_2d [2min 21s]
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Starting >>> nav2_core
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Starting >>> costmap_queue
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Finished <<< nav2_core [4.58s]
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Starting >>> dwb_core
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Starting >>> nav2_controller
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Starting >>> nav2_navfn_planner
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Starting >>> nav2_planner
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Starting >>> nav2_recoveries
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Starting >>> nav2_regulated_pure_pursuit_controller
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Finished <<< nav2_bt_navigator [51.2s]
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Starting >>> smac_planner
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Finished <<< costmap_queue [45.9s]
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Finished <<< nav2_navfn_planner [57.8s]
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Finished <<< dwb_core [57.9s]
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Starting >>> dwb_critics
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Starting >>> dwb_plugins
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Finished <<< nav2_planner [1min 15s]
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Finished <<< nav2_regulated_pure_pursuit_controller [1min 17s]
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[Processing: dwb_critics, dwb_plugins, nav2_controller, nav2_recoveries, smac_planner]
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Finished <<< dwb_plugins [54.7s]
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Finished <<< nav2_controller [2min 4s]
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Finished <<< dwb_critics [1min 8s]
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Starting >>> nav2_dwb_controller
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Finished <<< nav2_dwb_controller [2.32s]
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Finished <<< nav2_recoveries [2min 14s]
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Finished <<< smac_planner [2min 17s]
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Starting >>> navigation2
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Finished <<< navigation2 [1.05s]
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Starting >>> nav2_bringup
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Finished <<< nav2_bringup [1.19s]
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Starting >>> nav2_system_tests
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[Processing: nav2_system_tests]
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[Processing: nav2_system_tests]
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[Processing: nav2_system_tests]
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Finished <<< nav2_system_tests [1min 58s]
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Summary: 31 packages finished [9min 34s]
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ros@ros:~/RobCode/navigation2$
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示例
测试安装后，是否能够正常使用（ros2-foxy为例）。
功能包
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source /opt/ros/foxy/setup.bash
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export TURTLEBOT3_MODEL=waffle
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export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models
路径依据实际情况，稍有不同。
源码编译
source /home/ros/RobCode/navigation2/install/setup.bash
运行
ros2 launch nav2_bringup tb3_simulation_launch.py
设置初始位置（2D Pose Estimate）：
在rviz2中加入机器人模型（RobotModel），调整TF大小：
使用目标（Navigation2 Goal）设置终点，看效果如何？
定位思考：
如何提高定位精度呢？
tb3_simulation_launch.py（Intel）
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# Copyright (c) 2018 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""This is all-in-one launch script intended for use by nav2 developers."""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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def generate_launch_description():
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# Get the launch directory
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bringup_dir = get_package_share_directory('nav2_bringup')
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launch_dir = os.path.join(bringup_dir, 'launch')
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# Create the launch configuration variables
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slam = LaunchConfiguration('slam')
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namespace = LaunchConfiguration('namespace')
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use_namespace = LaunchConfiguration('use_namespace')
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map_yaml_file = LaunchConfiguration('map')
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use_sim_time = LaunchConfiguration('use_sim_time')
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params_file = LaunchConfiguration('params_file')
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default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
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autostart = LaunchConfiguration('autostart')
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# Launch configuration variables specific to simulation
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rviz_config_file = LaunchConfiguration('rviz_config_file')
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use_simulator = LaunchConfiguration('use_simulator')
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use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
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use_rviz = LaunchConfiguration('use_rviz')
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headless = LaunchConfiguration('headless')
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world = LaunchConfiguration('world')
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# Map fully qualified names to relative ones so the node's namespace can be prepended.
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# In case of the transforms (tf), currently, there doesn't seem to be a better alternative
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# https://github.com/ros/geometry2/issues/32
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# https://github.com/ros/robot_state_publisher/pull/30
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# TODO(orduno) Substitute with `PushNodeRemapping`
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# https://github.com/ros2/launch_ros/issues/56
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remappings = [('/tf', 'tf'),
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('/tf_static', 'tf_static')]
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# Declare the launch arguments
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declare_namespace_cmd = DeclareLaunchArgument(
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'namespace',
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default_value='',
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description='Top-level namespace')
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declare_use_namespace_cmd = DeclareLaunchArgument(
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'use_namespace',
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default_value='false',
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description='Whether to apply a namespace to the navigation stack')
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declare_slam_cmd = DeclareLaunchArgument(
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'slam',
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default_value='False',
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description='Whether run a SLAM')
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declare_map_yaml_cmd = DeclareLaunchArgument(
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'map',
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default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
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description='Full path to map file to load')
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use simulation (Gazebo) clock if true')
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declare_params_file_cmd = DeclareLaunchArgument(
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'params_file',
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default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
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description='Full path to the ROS2 parameters file to use for all launched nodes')
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declare_bt_xml_cmd = DeclareLaunchArgument(
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'default_bt_xml_filename',
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default_value=os.path.join(
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get_package_share_directory('nav2_bt_navigator'),
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'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
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description='Full path to the behavior tree xml file to use')
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declare_autostart_cmd = DeclareLaunchArgument(
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'autostart', default_value='true',
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description='Automatically startup the nav2 stack')
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declare_rviz_config_file_cmd = DeclareLaunchArgument(
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'rviz_config_file',
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default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
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description='Full path to the RVIZ config file to use')
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declare_use_simulator_cmd = DeclareLaunchArgument(
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'use_simulator',
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default_value='True',
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description='Whether to start the simulator')
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declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
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'use_robot_state_pub',
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default_value='True',
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description='Whether to start the robot state publisher')
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declare_use_rviz_cmd = DeclareLaunchArgument(
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'use_rviz',
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default_value='True',
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description='Whether to start RVIZ')
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declare_simulator_cmd = DeclareLaunchArgument(
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'headless',
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default_value='False',
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description='Whether to execute gzclient)')
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declare_world_cmd = DeclareLaunchArgument(
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'world',
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# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
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# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
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# 'worlds/turtlebot3_worlds/waffle.model'),
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default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
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description='Full path to world model file to load')
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# Specify the actions
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start_gazebo_server_cmd = ExecuteProcess(
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condition=IfCondition(use_simulator),
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cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
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cwd=[launch_dir], output='screen')
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start_gazebo_client_cmd = ExecuteProcess(
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condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
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cmd=['gzclient'],
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cwd=[launch_dir], output='screen')
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urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
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start_robot_state_publisher_cmd = Node(
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condition=IfCondition(use_robot_state_pub),
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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namespace=namespace,
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output='screen',
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parameters=[{'use_sim_time': use_sim_time}],
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remappings=remappings,
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arguments=[urdf])
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rviz_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
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condition=IfCondition(use_rviz),
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launch_arguments={'namespace': '',
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'use_namespace': 'False',
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'rviz_config': rviz_config_file}.items())
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bringup_cmd = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
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launch_arguments={'namespace': namespace,
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'use_namespace': use_namespace,
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'slam': slam,
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'map': map_yaml_file,
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'use_sim_time': use_sim_time,
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'params_file': params_file,
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'default_bt_xml_filename': default_bt_xml_filename,
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'autostart': autostart}.items())
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# Create the launch description and populate
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ld = LaunchDescription()
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# Declare the launch options
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_use_namespace_cmd)
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ld.add_action(declare_slam_cmd)
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ld.add_action(declare_map_yaml_cmd)
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_bt_xml_cmd)
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ld.add_action(declare_autostart_cmd)
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ld.add_action(declare_rviz_config_file_cmd)
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ld.add_action(declare_use_simulator_cmd)
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ld.add_action(declare_use_robot_state_pub_cmd)
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ld.add_action(declare_use_rviz_cmd)
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ld.add_action(declare_simulator_cmd)
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ld.add_action(declare_world_cmd)
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# Add any conditioned actions
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ld.add_action(start_gazebo_server_cmd)
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ld.add_action(start_gazebo_client_cmd)
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# Add the actions to launch all of the navigation nodes
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ld.add_action(start_robot_state_publisher_cmd)
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ld.add_action(rviz_cmd)
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ld.add_action(bringup_cmd)
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return ld
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/119899279
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