ROS2版Turbot3-Multi仿真教程-多机绘图导航-数字

文章说明

• 本教程主要介绍如何在ROS2仿真进行多机绘图导航测试
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic

相关设备

• Turbot3-Multi套件: 采购地址

前提准备

• 默认在Gazebo中加载big_map环境，其为一个用围墙围起来20x20m的空间
• 地图已经提前创建在~/map文件中，名称为big_map.pgm和big_map.yaml
• 如果想重新创建地图，请参考ROS2版Turbot3-Multi仿真教程-单机遥控建图
• 进行大地图建图时，需要调整仿真中雷达的增加最大扫描范围到20和水平采样率增大到720

$ vim /home/ubuntu/ros2_t3_ws/src/turbot3_simulations/turbot3_gazebo/models/turtlebot3_burger/model_with_namespace.sdf
...
          <scan>
            <horizontal>
              <samples>720</samples>
              <resolution>1.000000</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>20</max>
            <resolution>0.001</resolution>
          </range>

操作步骤

• 新开终端，启动多机仿真

# 在Gazebo中加载big_map环境，以及加载6台的机器人
$ ./sim_scripts/sim_multi_robot_in_gazebo.sh

• 地图参数和机器人位置参数存turbot3_gazebo/config/multi_robot_params.yaml下

world: big_map # The world file is stored in the turbot3_gazebo/models directory

robots:
  # robot1 pose setting
  - name: tb3_0
    x_pose: -8.0
    y_pose: 0.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 

  # robot2 pose setting
  - name: tb3_1
    x_pose: -8.0
    y_pose: 1.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 

  # robot3 pose setting
  - name: tb3_2
    x_pose: -8.0
    y_pose: 2.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 

  # robot4 pose setting
  - name: tb3_3
    x_pose: -8.0
    y_pose: 3.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 

  # robot5 pose setting
  - name: tb3_4
    x_pose: -8.0
    y_pose: 4.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 
  
  # robot6 pose setting
  - name: tb3_5
    x_pose: -8.0
    y_pose: 5.0
    z_pose: 0.01
    roll: 0.0
    pitch: 0.0
    yaw: 0.0 

• 启动多机导航程序

$ ./sim_scripts/sim_multi_nav_big_map.sh

• 启动初始化位姿脚本

$ ./sim_scripts/sim_multi_nav_init_pose.sh

• 启动绘制导航点脚本

$ ./sim_scripts/sim_multi_draw_generator.sh number

• 运行生成图形确认脚本

$ ./sim_scripts/sim_multi_draw_plot.sh number

• 启动导航

$ ./sim_scripts/sim_multi_draw_tour.sh number

• 回到原位

$ ./sim_scripts/sim_multi_draw_reset.sh

演示视频