机器人工程毕业设计☞开源学习（扫地）

机器人工程毕业设计☞区域覆盖（扫地）

提及一个中文案例，非常好的案例。

这里存到如下位置：

zhangrelay / turtlebot3_cleaner · GitCode

功能包配置：

sudo apt install ros-noetic-turtlebot3 ros-noetic-navigation ros-noetic-dwa-local-planner ros-noetic-slam-karto
 
 

roslaunch clean_robot auto_slam.launch
 
 

  
  

   
   

    
    

     
     

    
    
    
    

     
     

      <?xml version="1.0"?>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      <launch>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
 
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- <arg name="slam_methods" default="karto" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <arg name="open_rviz" default="true"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="model" value="$(arg model)" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  </include>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- 启动仿真环境 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <include file="$(find clean_robot)/launch/gazebo.launch"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
 
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <include file="$(find turtlebot3_slam)/launch/turtlebot3_karto.launch">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="model" value="$(arg model)"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="configuration_basename" value="$(arg configuration_basename)"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  </include>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
 
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- 启动 rviz 的标签 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <group if="$(arg open_rviz)">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find clean_robot)/rviz/turtlebot3_karto.rviz"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  </group>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- 通过导航来实现自动建图 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <include file="$(find clean_robot)/launch/move_base.launch">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <arg name="model" value="$(arg model)" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  </include>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 自动探索 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="robot_base_frame" value="base_link"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="costmap_topic" value="map"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="costmap_updates_topic" value="map_updates"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="visualize" value="true"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="planner_frequency" value="0.33"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="progress_timeout" value="50.0"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="potential_scale" value="3.0"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="orientation_scale" value="0.0"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="gain_scale" value="1.0"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="transform_tolerance" value="0.3"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <param name="min_frontier_size" value="0.6"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      </node>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      <!-- 键盘操作 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
  <!-- <node pkg="turtlebot3_teleop" type="turtlebot3_teleop_key" name="turtlebot3_teleop_key" launch-prefix="xterm -e" output="screen"/> -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
 
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      </launch>
     
     
    
    
  
  
 
 

roslaunch clean_robot clean_work.launch
 
 

  
  

   
   

    
    

     
     

    
    
    
    

     
     

      <?xml version="1.0"?>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      <launch>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <arg name="open_rviz" default="true"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 启动仿真环境 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
        <arg name="model" value="$(arg model)" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    </include>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <include file="$(find clean_robot)/launch/gazebo.launch"/>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 启动导航系统，用作目标点路径规划，实现躲避小障碍物-->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <include file="$(find clean_robot)/launch/turtlebot3_navigation.launch">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
        <arg name="model" value="$(arg model)" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    </include>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 清扫路径规划器 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <node pkg="clean_robot" type="path_planning_node" respawn="false" name="path_planning_node" output="screen" clear_params="true">
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
        <rosparam file="$(find clean_robot)/config/costmap_common_params.yaml" command="load" ns="cleaning_costmap" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
        <rosparam file="$(find clean_robot)/config/cleaning_costmap_params.yaml" command="load" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    </node>
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 根据清扫的路径向导航系统发送目标点位 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <!-- 设定距离当前目标点多进时候发布下一个目标点 -->
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <param name="/NextGoal/tolerance_goal" value="0.25" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     
    <node pkg="clean_robot" type="next_goal" respawn="true" name="next_goal" output="screen" />
     
     
    
    
   
   

    
    

     
     

    
    
    
    

     
     

      </launch>
     
     
    
    
  
  
 
 

1. 请仔细阅读源码进行学习。
2. 完成蓝桥ROS课程（初级+中级）

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/123486706