ros2与turtlebot3仿真教程-使用rtabmap建图

说明

介绍如何利用turtlebot3的gazebo仿真实现rtabmap建图
测试环境： ros2 humble + rtabmap

步骤

利用rcm安装turtlebot3仿真，参考文章ros2与turtlebot3仿真教程-安装turtlebot3
安装rtabmap,$ROS_DISTRO为系统默认的ros2版本

sudo apt install ros-$ROS_DISTRO-rtabmap-ros

复制命令到终端即可安装

配置

安装完成后，还需要配置使用深度相机，更改模型,地址位于

~/ros2_tb3_sim_ws/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf

修改内容步骤为：

#   Modify turtlebot3_waffle SDF:
#     1) Edit /opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
#     2) Add
#          <joint name="camera_rgb_optical_joint" type="fixed">
#            <parent>camera_rgb_frame</parent>
#            <child>camera_rgb_optical_frame</child>
#            <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
#            <axis>
#              <xyz>0 0 1</xyz>
#            </axis>
#          </joint> 
#     3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
#     4) Add <link name="camera_rgb_frame"/>
#     5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
#     6) Change image width/height from 1920x1080 to 640x480
#     7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans 
#        hitting the robot itself

已经修改的内容如下，可以对比之前的model.sdf

<link name="camera_link"/>

0.069 -0.047 0.107 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.035

0.069 -0.047 0.107 0 0 0

true true 30 1.02974 640 480 R8G8B8 0.02 300 gaussian 0.0 0.007 camera_rgb_frame camera_rgb_optical_frame 0 0 0 -1.57079632679 0 -1.57079632679 0 0 1 base_footprint base_link 0.0 0.0 0.010 0 0 0 base_link wheel_left_link 0.0 0.144 0.023 -1.57 0 0 0 0 1 base_link wheel_right_link 0.0 -0.144 0.023 -1.57 0 0 0 0 1 base_link caster_back_right_link base_link caster_back_left_link base_link imu_link -0.032 0 0.068 0 0 0 0 0 1 base_link base_scan -0.064 0 0.121 0 0 0 0 0 1 base_link camera_link 0.064 -0.065 0.094 0 0 0 0 0 1 camera_link camera_rgb_optical_frame 0.005 0.018 0.013 0 0 0 0 0 1 ``

测试

启动gazebo

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

效果图

请输入图片描述

启动rtabmap

ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py

或分步执行

$ ros2 launch rtabmap_launch rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true qos:=2

$ ros2 run topic_tools relay /rtabmap/map /map

效果图

请输入图片描述

启动导航

#新开终端
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

启动rviz

#新开终端启动rviz
ros2 launch nav2_bringup rviz_launch.py

效果图

请输入图片描述

启动遥控

ros2 run turtlebot3_teleop teleop_keyboard

利用遥控或通过rviz上指定目标点，可以移动小车进行建图

参考：

参考地址1