ROS1 go2 vlp16 局部避障--3 篇 - 教程

本文介绍ROS1下 unitree + vlp16 + cartographer的 自主定位+避障+探索

本文的基础搭建：gazebo模型及各类配置文件见https://blog.csdn.net/weixin_41469272/article/details/152049194
需要完成以上的配置的基础上，才能进行本文的配置。

• 0. 更新各类配置文件

unitree_guide/unitree_move_base/config/vlp_costmap_common_params.yaml

obstacle_range: 10         ##
raytrace_range: 15         ##
footprint: [[0.3, 0.4], [0.3, -0.4], [-0.35, -0.4], [-0.35, 0.4]]
# robot_radius: 0.3
inflation_radius: 0.3
max_obstacle_height: 5.0
min_obstacle_height: 0.0
origin_z: 0.0
# observation_sources: scan
# scan: {data_type: LaserScan, topic: /merged_laserscan, marking: true, clearing: true, expected_update_rate: 3.3}
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 10}
#observation_sources: scan
#headLaserscan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, expected_update_rate: 10}

unitree_guide/unitree_move_base/config/vlp_global_costmap_params.yaml

global_costmap:global_frame: odomrobot_base_frame: baseupdate_frequency: 1.0publish_frequency: 1.0rolling_window: truewidth: 20.0height: 15.0resolution: 0.05transform_tolerance: 1.0
plugins:- {name: static_layer, type: "costmap_2d::StaticLayer"}- {name: obstacles, type: "costmap_2d::ObstacleLayer"}- {name: inflation, type: "costmap_2d::InflationLayer"}

unitree_guide/unitree_move_base/config/vlp_local_costmap_params.yaml

local_costmap:global_frame: odomrobot_base_frame: baseupdate_frequency: 5.0publish_frequency: 3.0rolling_window: truewidth: 3height: 5inflation_radius: 0.3resolution: 0.05transform_tolerance: 1.0
plugins:- {name: obstacles, type: "costmap_2d::ObstacleLayer"}- {name: inflation, type: "costmap_2d::InflationLayer"}

cartographer_ros/cartographer_ros)/configuration_files/vlp_2d.lua

include "map_builder.lua"
include "trajectory_builder.lua"
options = {map_builder = MAP_BUILDER,trajectory_builder = TRAJECTORY_BUILDER,map_frame = "map",tracking_frame = "imu_link",published_frame = "odom",odom_frame = "odom",provide_odom_frame = false,publish_frame_projected_to_2d = false,use_odometry = true,use_nav_sat = false,use_landmarks = false,num_laser_scans = 1,num_multi_echo_laser_scans = 0,num_subdivisions_per_laser_scan = 1,num_point_clouds = 0,lookup_transform_timeout_sec = 0.2,submap_publish_period_sec = 0.3,pose_publish_period_sec = 5e-3,trajectory_publish_period_sec = 30e-3,rangefinder_sampling_ratio = 1.,odometry_sampling_ratio = 1.,fixed_frame_pose_sampling_ratio = 1.,imu_sampling_ratio = 1.,landmarks_sampling_ratio = 1.,
}
pose_extrapolator = {pose_queue_duration = 0.5,imu_gravity_time_constant = 10.,odometry_translation_weight = 1.,odometry_rotation_weight = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65
return options

unitree_guide/unitree_move_base/launch/my_carto_explore.launch

<launch><node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan"respawn="false" output="screen"><remap from="cloud_in" to="/velodyne_points"/><!--remap from="/scan" to="/headLaserScan"/--><rosparam>target_frame: velodynetransform_tolerance: 0.1min_height: 0.0max_height: 1.0angle_min: -3.14159angle_max: 3.14159angle_increment: 0.0175scan_time: 0.1range_min: 0.5range_max: 10.0use_inf: false# Concurrency level, affects number of pointclouds queued for processing and number of threads used# 0 : Detect number of cores# 1 : Single threaded# 2->inf : Parallelism levelconcurrency_level: 1</rosparam></node><!-- MoveBase --><node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"><rosparam file="$(find unitree_move_base)/config/vlp_costmap_common_params.yaml" command="load" ns="global_costmap" /><rosparam file="$(find unitree_move_base)/config/vlp_costmap_common_params.yaml" command="load" ns="local_costmap" /><rosparam file="$(find unitree_move_base)/config/vlp_global_costmap_params.yaml" command="load" /><rosparam file="$(find unitree_move_base)/config/vlp_local_costmap_params.yaml" command="load" /><rosparam file="$(find unitree_move_base)/config/vlp_teb_local_planner_params.yaml" command="load" /><!-- (TEB) --><!--param name="base_global_planner" value="global_planner/GlobalPlanner"/--><param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS"/></node><!-- AMCL --><!-- <include file="$(find unitree_move_base)/launch/amcl.launch" /> --><param name="/use_sim_time" value="true" /><node name="cartographer_node" pkg="cartographer_ros"type="cartographer_node" args="-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename vlp_2d.lua"output="screen"><!--remap from="points2" to="/velodyne_points" /--><remap from="imu" to="/trunk_imu" /><!--remap from="/scan" to="/headLaserScan"/--></node><node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"type="cartographer_occupancy_grid_node" args="-resolution 0.05" /><!--node name="rviz" pkg="rviz" type="rviz" required="true"args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /--><node pkg="explore_lite" type="explore" name="explore" output="screen"><param name="costmap_topic" value="/map"/><param name="robot_base_frame" value="base"/><!--param name="costmap_topic" value="/move_base/global_costmap/costmap"/--><!--param name="costmap_updates_topic" value="costmap_updates"/--><param name="costmap_updates_topic" value="map_updates"/><param name="visualize" value="true"/><param name="planner_frequency" value="0.2"/><param name="progress_timeout" value="30.0"/><param name="potential_scale" value="3.0"/><param name="gain_scale" value="1.0"/><param name="min_frontier_size" value="0.5"/><param name="frontier_search_size" value="15.0" />launch-prefix="bash -c 'sleep 1.0; $0 $@' "></node><!-- rviz --><node pkg="rviz" type="rviz" name="rviz" args="-d $(find unitree_move_base)/config/my_cart_move_base.rviz"/></launch>

• 1. 启动gazebo仿真

roslaunch unitree_guide vlp_go2.launch

• 2. 启动控制模块

 ./devel/lib/unitree_guide/junior_ctrl

后输入2,让狗站起来。再进行下述操作

• 3. 启动move_base + cartographer + pc2scan

roslaunch unitree_move_base my_carto_explore.launch

问题

• 待解决问题
  gazebo 加载带雷达的go2 时，狗头会被激光压歪。使得整个地图的构建也是歪的
  原因分析：由于vlp16重力导致。尚未去解
  折中办法：在启动move_base 之前，先让go2先站起来，后启动定位节点，减少

• cartograoher的base_link找不到到source frame的映射关系，此外还有rviz 中trajecties有报错的问题
  go2 模型使用的base坐标系，暂时没管。