ROS机器人定位导航仿真

一、配置运行环境

二、创建工作区域

1.先创建ros的工作区域racecar_ws

mkdir -p ~/racecar_ws/src

2.转换到工作区域目录

cd ~/racecar_ws/src

3、把当前目录初始化为一个ROS工作空间

catkin_init_workspace

4.下载Gazebo搭建赛道功能包racecar

git clone https://github.com/xmy0916/racecar.git

5.下载完成，效果图如下： 6.安装本次运行所需的控件

sudo apt-get install ros-melodic-driver-base sudo apt-get install ros--melodic-gazebo-ros-control sudo apt-get install ros--melodic-effort-controllers sudo apt-get install ros--melodic-joint-state-controller sudo apt-get install ros-melodic-ackermann-msgs sudo apt-get install ros-melodic-global-planner sudo apt-get install ros-melodic-teb-local-planner

7.racecar功能包编译

cd ~/racecar_ws catkin_make

三、启动仿真编译

1.设置环境变量，程序注册

echo "source ~/racecar_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc

2.启动gazebo，运行打开小车模型

roslaunch racecar_gazebo racecar.launch

运行成功后可看到小车模型：

四、搭建小车赛道

在终端打开Gazebo，点击Edit->Build Editor，创建模型，保存该模型。如下图： 将小车拖入赛道适当位置： 而后添加障碍物： 创建launch文件，配置赛道参数，代码如下：

cd ~/racecar_ws/src/racecar/racecar_gazebo/launch sudo gedit mango.launch

而后在文件中加入如下代码：

<?xml version="1.0"?> <launch> <!-- Launch the racecar --> <include file="$(find racecar_gazebo)/launch/racecar.launch"> <arg name="world_name" value="mango"/> </include> </launch>

而后运行自己创建的地图，代码如下：

source ./devel/setup.bash roslaunch racecar_gazebo mango.launch

而后通过建立的赛道进行gmapping建图

roslaunch racecar_gazebo slam_gmapping.launch

而后保存gmapping创建的地图

cd ~/racecar_ws rosrun map_server map_saver -f mango_car_map

五、小车自主定位导航

打开终端，执行如下命令：

cd ~/racecar_ws/src/racecar/racecar_gazebo/launch sudo gedit mango_auto.launch

而后在mango_auto.launch编辑如下代码：

<?xml version="1.0"?> <launch> <!-- Launch the racecar --> <include file="$(find racecar_gazebo)/launch/racecar.launch"> <arg name="world_name" value="mango"/> </include> <!-- Launch the built-map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find racecar_gazebo)/map/mango_car_map.yaml" /> <!--Launch the move base with time elastic band--> <param name="/use_sim_time" value="true"/> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find racecar_gazebo)/config/local_costmap_params.yaml" command="load" /> <rosparam file="$(find racecar_gazebo)/config/global_costmap_params.yaml" command="load" /> <rosparam file="$(find racecar_gazebo)/config/teb_local_planner_params.yaml" command="load" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="planner_frequency" value="0.01" /> <param name="planner_patience" value="5.0" /> <!--param name="use_dijkstra" value="false" /--> <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> <param name="controller_frequency" value="5.0" /> <param name="controller_patience" value="15.0" /> <param name="clearing_rotation_allowed" value="false" /> </node> </launch>

而后保存退出！ 运行自己创建的赛道

cd ~/racecar_ws source ./devel/setup.bash roslaunch racecar_gazebo mango_auto.launch

再继续打开另一个终端，启动rviz

roslaunch racecar_gazebo racecar_rviz.launch

再打开另一个终端，启动path_pursuit.py脚本文件

rosrun racecar_gazebo path_pursuit.py

小车运行时效果如下图： 最后本次实验到此完成！