Turtlebot3多机建图教程-软硬件
Turtlebot3多机建图教程-软硬件
说明：
- 介绍多机的软硬件要求
硬件说明：
- Burger至少2台
- 笔记本一台
相关设备：
- Turbot3-Multi套件，采购地址
软件：
- ubuntu系统16.04 ，ROS版本kinetic
- OpenCR固件升级到1.2.1 之后的版本 ，OpenCR固件升级参考
- [Remote PC] 安装多机地图合并软件包ros-kinetic-multirobot-map-merge
$ sudo apt-get install ros-kinetic-multirobot-map-merge
- [Remote PC] 创建turtlebot3_map_merge.launch和文件
$ roscd turtlebot3_slam/launch/
$ vim turtlebot3_map_merge.launch
##复制以下内容后，保存退出
<launch>
<arg name="first_tb3" default="tb3_0"/>
<arg name="second_tb3" default="tb3_1"/>
<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="0.0"/>
<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"/>
<group ns="$(arg first_tb3)/map_merge">
<param name="init_pose_x" value="$(arg first_tb3_x_pos)"/>
<param name="init_pose_y" value="$(arg first_tb3_y_pos)"/>
<param name="init_pose_z" value="$(arg first_tb3_z_pos)"/>
<param name="init_pose_yaw" value="$(arg first_tb3_yaw)" />
</group>
<group ns="$(arg second_tb3)/map_merge">
<param name="init_pose_x" value="$(arg second_tb3_x_pos)"/>
<param name="init_pose_y" value="$(arg second_tb3_y_pos)"/>
<param name="init_pose_z" value="$(arg second_tb3_z_pos)"/>
<param name="init_pose_yaw" value="$(arg second_tb3_yaw)" />
</group>
<node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">
<param name="robot_map_topic" value="map"/>
<param name="robot_namespace" value="tb3"/>
<param name="merged_map_topic" value="map"/>
<param name="world_frame" value="map"/>
<param name="known_init_poses" value="true"/>
<param name="merging_rate" value="0.5"/>
<param name="discovery_rate" value="0.05"/>
<param name="estimation_rate" value="0.1"/>
<param name="estimation_confidence" value="1.0"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg first_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg first_tb3)/map 100"/>
<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg second_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg second_tb3)/map 100"/>
</launch>
- [Remote PC] 创建multi_turtlebot3_slam.rviz文件
$ roscd turtlebot3_slam/rviz
$ vim multi_turtlebot3_slam.rviz
##复制以下内容后，保存退出
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.360396028
Tree Height: 463
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 0.449999988
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: map
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 11799
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan_tb3_0
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0199999996
Style: Flat Squares
Topic: /tb3_0/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 6858
Min Color: 0; 0; 0
Min Intensity: 108
Name: LaserScan_tb3_1
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /tb3_1/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_scan:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_back_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
wheel_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel_tb3_0
Robot Description: tb3_0/robot_description
TF Prefix: tb3_0
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_scan:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
caster_back_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
wheel_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel_tb3_1
Robot Description: tb3_1/robot_description
TF Prefix: tb3_1
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 0.300000012
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map_tb3_0
Topic: /tb3_0/map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.300000012
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map_tb3_1
Topic: /tb3_1/map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map_merge
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /tb3_0/move_base/NavfnROS/plan
Unreliable: false
Value: true
Enabled: true
Name: NavfnROS_tb3_0
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: Planner
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /tb3_1/move_base/NavfnROS/plan
Unreliable: false
Value: true
Enabled: true
Name: NavfnROS_tb3_1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Angle: -1.56999898
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Scale: 131.955078
Target Frame: map
Value: TopDownOrtho (rviz)
X: -0.241021574
Y: -0.142131925
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 744
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001e30000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000216000001900000000000000000000000010000010f00000373fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003500000373000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000032c0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1301
X: 65
Y: 24
获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号