-
ROS Turtlebot3多机器人编队导航仿真
前言
前面已经实现了在gazebo仿真环境中机器人一字型编队、三角形编队、N字型编队等仿真，接下来考虑多机器人编队在编队行进过程中的避障问题，通过在RVIZ中加载多个机器人使他们能分别进行全局和局部路径规划，来进行避障。
一、Gzazebo中加载多台Turtlebot3机器人
在前面的文章中也提到过在gazebo仿真环境中加载多个机器人主要是修改启动gazebo仿真环境的launch文件。
原Turtlebot3 launch文件<launch> <env name="GAZEBO_RESOURCE_PATH" value="$(find turtlebot3_gazebo)/models/turtlebot3_autorace/ground_picture" /> <arg name="x_pos" default="0.245"/> <arg name="y_pos" default="-1.787"/> <arg name="z_pos" default="0"/> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_autorace.world" /> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.urdf.xacro" /> <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" /> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
添加多台机器人的launch文件
<?xml version="1.0"?> <launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="first_tb3" default="tb3_0"/> <arg name="second_tb3" default="tb3_1"/> <arg name="third_tb3" default="tb3_2"/> <arg name="first_tb3_x_pos" default=" 0.0"/> <arg name="first_tb3_y_pos" default=" 0.0"/> <arg name="first_tb3_z_pos" default=" 0.0"/> <arg name="first_tb3_yaw" default=" 0.0"/> <arg name="second_tb3_x_pos" default=" -1.0"/> <arg name="second_tb3_y_pos" default=" 0.0"/> <arg name="second_tb3_z_pos" default=" 0.0"/> <arg name="second_tb3_yaw" default=" 0.0"/> <arg name="third_tb3_x_pos" default=" -2.0"/> <arg name="third_tb3_y_pos" default=" 0.0"/> <arg name="third_tb3_z_pos" default=" 0.0"/> <arg name="third_tb3_yaw" default=" 0.0"/> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/cloister.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include> <group ns = "$(arg first_tb3)"> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg first_tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" /> </group> <group ns = "$(arg second_tb3)"> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg second_tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" /> </group> <group ns = "$(arg third_tb3)"> <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> <param name="tf_prefix" value="$(arg third_tb3)" /> </node> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" /> </group> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
- 47
- 48
- 49
- 50
- 51
- 52
- 53
- 54
- 55
- 56
- 57
- 58
- 59
- 60
- 61
- 62
- 63
- 64
- 65
对比发现，修改后的launch文件增加了三个tb3的ns属性，并为其设置了初始位姿，设置了ns属性后才使得每个仿真小车发布带有对应属性的节点名称，例如/tb3_0/odom、/tb3_0/base_link、/tb3_1/odom、/tb3_1/base_link。这样能防止TF树错乱而导致的运行出错。
二、RVIZ中加载多个Turtlebot3机器人
与Gazebo中加载多个Turtlebot3机器人相比，RVIZ需要修改的内容多了些。首先修改turtlebot3_navigation.launch
原文件：<launch> <!-- Arguments --> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/> <arg name="open_rviz" default="true"/> <arg name="move_forward_only" default="false"/> <!-- Turtlebot3 --> <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> <arg name="model" value="$(arg model)" /> </include> <!-- Map server --> <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/> <!-- AMCL --> <include file="$(find turtlebot3_navigation)/launch/amcl.launch"/> <!-- move_base --> <include file="$(find turtlebot3_navigation)/launch/move_base.launch"> <arg name="model" value="$(arg model)" /> <arg name="move_forward_only" value="$(arg move_forward_only)"/> </include> <!-- rviz --> <group if="$(arg open_rviz)"> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/> </group> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
修改后：
<launch> <!-- Arguments --> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="open_rviz" default="true"/> <arg name="move_forward_only" default="false"/> <arg name="first_tb3" default="tb3_0"/> <arg name="second_tb3" default="tb3_1"/> <arg name="third_tb3" default="tb3_2"/> <!-- Map server --> <arg name="map_file" default="$(find turtlebot3_navigation)/maps/cloister_gmapping.yaml"/> <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/> <group ns = "$(arg first_tb3)"> <!-- Map server --> <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/> <!-- Turtlebot3 --> <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> <arg name="model" value="$(arg model)" /> <arg name="multi_robot_name" value="$(arg first_tb3)" /> </include> <arg name="first_tb3_x_pos" default="0.0"/> <arg name="first_tb3_y_pos" default="0.0"/> <arg name="first_tb3_z_pos" default="0.0"/> <!-- AMCL --> <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg first_tb3)/odom"/> <arg name="base_frame_id" value="$(arg first_tb3)/base_footprint"/> <arg name="initial_pose_x" value="$(arg first_tb3_x_pos)"/> <arg name="initial_pose_y" value="$(arg first_tb3_y_pos)"/> <arg name="initial_pose_a" value="$(arg first_tb3_z_pos)"/> </include> <!-- move_base --> <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg first_tb3)/odom"/> <arg name="base_frame_id" value="$(arg first_tb3)/base_footprint"/> <arg name="odom_topic" value="/$(arg first_tb3)/odom" /> <arg name="laser_topic" value="/$(arg first_tb3)/scan" /> <arg name="cmd_vel_topic" value="/$(arg first_tb3)/cmd_vel" /> <arg name="model" value="$(arg model)" /> <arg name="move_forward_only" value="$(arg move_forward_only)"/> </include> </group> <group ns = "$(arg second_tb3)"> <!-- Map server --> <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/> <!-- Turtlebot3 --> <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> <arg name="model" value="$(arg model)" /> <arg name="multi_robot_name" value="$(arg second_tb3)" /> </include> <arg name="second_tb3_x_pos" default="-1.0"/> <arg name="second_tb3_y_pos" default="0.0"/> <arg name="second_tb3_z_pos" default="0.0"/> <!-- AMCL --> <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg second_tb3)/odom"/> <arg name="base_frame_id" value="$(arg second_tb3)/base_footprint"/> <arg name="initial_pose_x" value="$(arg second_tb3_x_pos)"/> <arg name="initial_pose_y" value="$(arg second_tb3_y_pos)"/> <arg name="initial_pose_a" value="$(arg second_tb3_z_pos)"/> </include> <!-- move_base --> <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg second_tb3)/odom"/> <arg name="base_frame_id" value="$(arg second_tb3)/base_footprint"/> <arg name="odom_topic" value="/$(arg second_tb3)/odom" /> <arg name="laser_topic" value="/$(arg second_tb3)/scan" /> <arg name="cmd_vel_topic" value="/$(arg second_tb3)/cmd_vel" /> <arg name="model" value="$(arg model)" /> <arg name="move_forward_only" value="$(arg move_forward_only)"/> </include> </group> <group ns = "$(arg third_tb3)"> <!-- Map server --> <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/> <!-- Turtlebot3 --> <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> <arg name="model" value="$(arg model)" /> <arg name="multi_robot_name" value="$(arg third_tb3)" /> </include> <arg name="third_tb3_x_pos" default="-2.0"/> <arg name="third_tb3_y_pos" default="0.0"/> <arg name="third_tb3_z_pos" default="0.0"/> <!-- AMCL --> <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg third_tb3)/odom"/> <arg name="base_frame_id" value="$(arg third_tb3)/base_footprint"/> <arg name="initial_pose_x" value="$(arg third_tb3_x_pos)"/> <arg name="initial_pose_y" value="$(arg third_tb3_y_pos)"/> <arg name="initial_pose_a" value="$(arg third_tb3_z_pos)"/> </include> <!-- move_base --> <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch"> <arg name="global_frame_id" value="map"/> <arg name="odom_frame_id" value="$(arg third_tb3)/odom"/> <arg name="base_frame_id" value="$(arg third_tb3)/base_footprint"/> <arg name="odom_topic" value="/$(arg third_tb3)/odom" /> <arg name="laser_topic" value="/$(arg third_tb3)/scan" /> <arg name="cmd_vel_topic" value="/$(arg third_tb3)/cmd_vel" /> <arg name="model" value="$(arg model)" /> <arg name="move_forward_only" value="$(arg move_forward_only)"/> </include> </group> <!-- rviz --> <group if="$(arg open_rviz)"> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navWjx.rviz"/> </group> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
- 47
- 48
- 49
- 50
- 51
- 52
- 53
- 54
- 55
- 56
- 57
- 58
- 59
- 60
- 61
- 62
- 63
- 64
- 65
- 66
- 67
- 68
- 69
- 70
- 71
- 72
- 73
- 74
- 75
- 76
- 77
- 78
- 79
- 80
- 81
- 82
- 83
- 84
- 85
- 86
- 87
- 88
- 89
- 90
- 91
- 92
- 93
- 94
- 95
- 96
- 97
- 98
- 99
- 100
- 101
- 102
- 103
- 104
- 105
- 106
- 107
- 108
- 109
- 110
- 111
- 112
- 113
- 114
- 115
- 116
- 117
- 118
- 119
- 120
- 121
- 122
turtlebot3_navigation.launch中引用的move_base.launch和amcl.launch文件也需要修改
move_base.launch
原文件：<launch> <!-- Arguments --> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="cmd_vel_topic" default="/cmd_vel" /> <arg name="odom_topic" default="odom" /> <arg name="move_forward_only" default="false"/> <!-- move_base --> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" /> </node> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
修改后（multi_move_base.launch）：
<launch> <!-- Arguments --> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="odom_frame_id" default="odom"/> <arg name="base_frame_id" default="base_footprint"/> <arg name="global_frame_id" default="map"/> <arg name="cmd_vel_topic" default="/cmd_vel" /> <arg name="odom_topic" default="odom" /> <arg name="laser_topic" default="scan" /> <arg name="move_forward_only" default="false"/> <!-- move_base --> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <param name="base_global_planner" value="global_planner/GlobalPlanner"/> <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/> <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" /> <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" /> <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" /> <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" /> <!-- reset frame_id parameters using user input data --> <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/> <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/> <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/> <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/> <param name="global_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/> <param name="local_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/> <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> <remap from="scan" to="$(arg laser_topic)"/> <param name="DWAPlanner/min_vel_x" value="0.0" if="$(arg move_forward_only)" /> </node> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
amcl.launch
原文件：<launch> <!-- Arguments --> <arg name="scan_topic" default="scan"/> <arg name="initial_pose_x" default="0.0"/> <arg name="initial_pose_y" default="0.0"/> <arg name="initial_pose_a" default="0.0"/> <!-- AMCL --> <node pkg="amcl" type="amcl" name="amcl"> <param name="min_particles" value="500"/> <param name="max_particles" value="3000"/> <param name="kld_err" value="0.02"/> <param name="update_min_d" value="0.20"/> <param name="update_min_a" value="0.20"/> <param name="resample_interval" value="1"/> <param name="transform_tolerance" value="0.5"/> <param name="recovery_alpha_slow" value="0.00"/> <param name="recovery_alpha_fast" value="0.00"/> <param name="initial_pose_x" value="$(arg initial_pose_x)"/> <param name="initial_pose_y" value="$(arg initial_pose_y)"/> <param name="initial_pose_a" value="$(arg initial_pose_a)"/> <param name="gui_publish_rate" value="50.0"/> <remap from="scan" to="$(arg scan_topic)"/> <param name="laser_max_range" value="3.5"/> <param name="laser_max_beams" value="180"/> <param name="laser_z_hit" value="0.5"/> <param name="laser_z_short" value="0.05"/> <param name="laser_z_max" value="0.05"/> <param name="laser_z_rand" value="0.5"/> <param name="laser_sigma_hit" value="0.2"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="laser_model_type" value="likelihood_field"/> <param name="odom_model_type" value="diff"/> <param name="odom_alpha1" value="0.1"/> <param name="odom_alpha2" value="0.1"/> <param name="odom_alpha3" value="0.1"/> <param name="odom_alpha4" value="0.1"/> <param name="odom_frame_id" value="odom"/> <param name="base_frame_id" value="base_footprint"/> </node> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
修改后（multi_amcl.launch读入数据）：
<launch> <!-- Arguments --> <arg name="use_map_topic" default="true"/> <arg name="scan_topic" default="scan"/> <arg name="initial_pose_x" default="0.0"/> <arg name="initial_pose_y" default="0.0"/> <arg name="initial_pose_a" default="0.0"/> <arg name="odom_frame_id" default="odom"/> <arg name="base_frame_id" default="base_footprint"/> <arg name="global_frame_id" default="map"/> <!-- AMCL --> <node pkg="amcl" type="amcl" name="amcl"> <param name="use_map_topic" value="$(arg use_map_topic)"/> <param name="min_particles" value="500"/> <param name="max_particles" value="3000"/> <param name="kld_err" value="0.02"/> <param name="update_min_d" value="0.20"/> <param name="update_min_a" value="0.20"/> <param name="resample_interval" value="1"/> <param name="transform_tolerance" value="0.5"/> <param name="recovery_alpha_slow" value="0.00"/> <param name="recovery_alpha_fast" value="0.00"/> <param name="initial_pose_x" value="$(arg initial_pose_x)"/> <param name="initial_pose_y" value="$(arg initial_pose_y)"/> <param name="initial_pose_a" value="$(arg initial_pose_a)"/> <param name="gui_publish_rate" value="50.0"/> <remap from="scan" to="$(arg scan_topic)"/> <param name="laser_max_range" value="3.5"/> <param name="laser_max_beams" value="180"/> <param name="laser_z_hit" value="0.5"/> <param name="laser_z_short" value="0.05"/> <param name="laser_z_max" value="0.05"/> <param name="laser_z_rand" value="0.5"/> <param name="laser_sigma_hit" value="0.2"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="laser_model_type" value="likelihood_field"/> <param name="odom_model_type" value="diff"/> <param name="odom_alpha1" value="0.1"/> <param name="odom_alpha2" value="0.1"/> <param name="odom_alpha3" value="0.1"/> <param name="odom_alpha4" value="0.1"/> <param name="odom_frame_id" value="$(arg odom_frame_id)"/> <param name="base_frame_id" value="$(arg base_frame_id)"/> <param name="global_frame_id" value="$(arg global_frame_id)"/> </node> </launch>- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
- 24
- 25
- 26
- 27
- 28
- 29
- 30
- 31
- 32
- 33
- 34
- 35
- 36
- 37
- 38
- 39
- 40
- 41
- 42
- 43
- 44
- 45
- 46
- 47
- 48
- 49
- 50
- 51
- 52
- 53
- 54
三.多机器人编队导航
多机器人编队的仿真在前面文章中叙述过：多机器人三角形编队的实现，编队的程序不需要修改，可以直接运行。
启动gazebo仿真环境(launch 自己的文件名)：roslaunch turtlebot3_gazebo multi3_turtlebot3.launch- 1
启动导航节点（RVIZ）roslaunch turtlebot3_navigation turtlebot3_navigation- 1
启动编队程序：roslaunch turtlebot3_teams_wang turtlebot3_teams_follow_wang.launch- 1
总结
简单总结了Turtlebot3多机器人编队仿真，在实现的过程中需要对RVIZ仿真环境进行配置，这个花费了我很长时间，后面我会专门的写一下，主要是添加多个2D nav Goal/2D pose estimate，以及导航、laser、全局路径/局部路径话题的订阅。
-
相关阅读:
网络直播是如何实现的——流媒体协议简介
mmlab花朵分类结果展示（1）
Stable Diffusion中的ControlNet插件
【go】依赖注入
[机缘参悟-74]：沟通技巧-无论在职场还是在家，尽量少用反问句
HIVE如何校验map类型数据 -- 比较json和map的转换前后数据一致性
花了6个月时间完成本科优秀毕业设计，我做了什么？
SpringMVC异常处理
澳大利亚博士后招聘|国立大学—太阳能电池方向
SpringBoot：分页Pageable最大size配置
- 原文地址：https://blog.csdn.net/qq_45252077/article/details/134450335
