Turbot与python编程-实现带避障的定点导航

Turbot与python编程-实现带避障的定点导航

说明：

• 介绍如何利用turbot机器人利用雷达或kinect进行定点导航，同时能动态避开障碍

代码：

• 实现代码：

# TurtleBot must have minimal.launch & amcl_demo.launch
# running prior to starting this script
# For simulation: launch gazebo world & amcl_demo prior to run this script
# goToSpecificPointOnMap.py

import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion
form sys import argv

class GoToPose():
    def __init__(self):

        self.goal_sent = False

	# What to do if shut down (e.g. Ctrl-C or failure)
	rospy.on_shutdown(self.shutdown)
	
	# Tell the action client that we want to spin a thread by default
	self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
	rospy.loginfo("Wait for the action server to come up")

	# Allow up to 5 seconds for the action server to come up
	self.move_base.wait_for_server(rospy.Duration(5))

    def goto(self, pos, quat):

        # Send a goal
        self.goal_sent = True
	goal = MoveBaseGoal()
	goal.target_pose.header.frame_id = 'map'
	goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
                                     Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))

	# Start moving
        self.move_base.send_goal(goal)

	# Allow TurtleBot up to 60 seconds to complete task
	success = self.move_base.wait_for_result(rospy.Duration(60)) 

        state = self.move_base.get_state()
        result = False

        if success and state == GoalStatus.SUCCEEDED:
            # We made it!
            result = True
        else:
            self.move_base.cancel_goal()

        self.goal_sent = False
        return result

    def shutdown(self):
        if self.goal_sent:
            self.move_base.cancel_goal()
        rospy.loginfo("Stop")
        rospy.sleep(1)

if __name__ == '__main__':
    try:
        rospy.init_node('nav_test', anonymous=False)
        navigator = GoToPose()

        # Customize the following values so they are appropriate for your location
        px = float(argv[1])
        py = float(argv[2])
        position = {'x': px, 'y' : py}
        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}

        rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
        success = navigator.goto(position, quaternion)

        if success:
            rospy.loginfo("Hooray, reached the desired pose")
        else:
            rospy.loginfo("The base failed to reach the desired pose")

        # Sleep to give the last log messages time to be sent
        rospy.sleep(1)

    except rospy.ROSInterruptException:
        rospy.loginfo("Ctrl-C caught. Quitting")

步骤：

• 主机，新终端，启动底盘

$ roslaunch turbot_bringup minimal.launch

• 主机上，新终端，启动雷达amcl， 并指定地图

$ roslaunch turbot_slam laser_amcl_demo.launch map_file:=/path_to_map/xxx.yaml

• path_to_map为你地图的目录
• xxx为你地图名称
• 从机，新终端，启动rviz

$ roslaunch turbot_rviz nav.launch

• 获取地图数据方法
  • 从rviz界面上，点击Publish point，鼠标移动到地图
  • 查看rviz的做下动态状态条，会出现相应的坐标信息
  • 记录合适的坐标信息
• 效果图：

• 指定格式为：

$ rosrun turbot_code goToSpecificPointOnMap.py  x  y

• 实际如：

$ rosrun turbot_code goToSpecificPointOnMap.py  -1.14 -1.44

• 机器人会自动运行到指定的目标点， 并能动态避开障碍。