一、环境配置
参考turtlebot3-多机交互程序:多机交互-创客智造
小车：
Ubuntu-mate16.04+ROSkinetic；
必要的bringup.launch文件（包括雷达信息、IMU、编码器信息、电器驱动），详情见bringup详解。
上位机：
Ubuntu16.04+ROSkinetic
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
安装turtlebot3源码：turtlebot3源码安装；
需添加turbot3源码：
git clone https://github.com/ROBOTIS-GIT/turbot3.git cd ~/catkin_ws && catkin_make
二、 建图
2.1、建图主要命令
开启小车底盘和雷达（小车端），其他小车同理：
roslaunch clbrobot robot.launch robot_name:="robot1"
开启单个小车的slam建图并设定初始位置和建图算法（以下均在上位机端运行）：
roslaunch multi_slam multi_slam.launch robot_name:="robot1" robot_y_pos:="10.0" slam_methods:=gmapping
开启键盘控制：
roslaunch multi_slam keyboard.launch robot_name:="robot1"
Tip：以上几个机器人就得重复几次
运行多机建图并打开rviz：
roslaunch multi_slam map_merge.launch
完成多机建图后保存地图
rosrun map_server map_saver -f /home/catkin_ws/src/multi_robot/map
修改 map.yaml 中的 origin 为：
origin: [0.000000, 0.000000, 0.000000]
2.2、建图模块分析
multi_slam.launch 代码如下：
<launch> <arg name="robot_name" default=""/> <arg name="robot_x_pos" default="0.0"/> <arg name="robot_y_pos" default="0.0"/> <arg name="robot_z_pos" default="0.0"/> <arg name="robot_yaw" default="0.0"/> <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, hector, karto]"/> <!-- robot_model --> <include file="$(find robot_model)/model_robot.launch"> <arg name="robot_name" value="$(arg robot_name)"/> </include> <!-- init_pose --> <include file="$(find multi_slam)/launch/init_pose.launch"> <arg name="robot_name" value="$(arg robot_name)"/> <arg name="robot_x_pos" value="$(arg robot_x_pos)"/> <arg name="robot_y_pos" value="$(arg robot_y_pos)"/> <arg name="robot_z_pos" value="$(arg robot_z_pos)"/> <arg name="robot_yaw" value="$(arg robot_yaw)" /> </include> <!-- slam_methods --> <include file="$(find multi_slam)/launch/slam.launch"> <arg name="robot_name" value="$(arg robot_name)"/> <arg name="slam_methods" value="$(arg slam_methods)"/> </include> </launch>
map_merge.launch 代码如下：
<launch> <!-- multirobot_map_merge --> <node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen"> <param name="robot_map_topic" value="map"/> <param name="robot_namespace" value="robot"/> <param name="merged_map_topic" value="map"/> <param name="world_frame" value="map"/> <param name="known_init_poses" value="true"/> <param name="merging_rate" value="0.5"/> <param name="discovery_rate" value="0.05"/> <param name="estimation_rate" value="0.1"/> <param name="estimation_confidence" value="1.0"/> </node> <!-- multirobot_rviz --> <include file="$(find multi_slam)/launch/multi_rviz.launch"/> </launch>
2.3、建图实现效果
rqt_tf_tree
rqt_graph
rviz效果图
建图结果
2.4、 建图github开源代码
explore自动建图的网址：http://wiki.ros.org/explore_lite
map_merge多图融合的网址：http://wiki.ros.org/multirobot_map_merge/
github代码的地址：https://github.com/hrnr/m-explore
3D地图的融合：https://github.com/hrnr/map-merge
3D多机器人导航：https://github.com/hrnr/map-merge
三、导航
3.1、 建图主要命令
开启小车底盘和雷达（小车端），其他小车同理：
roslaunch clbrobot robot.launch robot_name:="robot1"
启动地图服务程序（以下均在上位机端运行）：
roslaunch multi_navigation navigation_multi_map.launch map_file:=$HOME/tan/catkin_ws/src/multi_robot/map/map.yaml
开启小车导航navigation并设定初始位姿：
roslaunch multi_navigation navigation_multirobot.launch robot_name:="robot1"
开启rviz：
roslaunch multi_navigation navigation_rviz.launch
发布目标位置：
rostopic pub /robot1/move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 0.5, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
3.2、导航模块分析
navigation_multi_map.launch 代码如下：
<launch> <!-- Map server --> <arg name="map_file" default="/home/catkin_ws/src/multi_robot/map/map.yaml"/> <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"> </node> </launch>
navigation_multirobot.launch 代码如下：
/
<launch> <arg name="robot_name" default="" /> <!-- robot_model --> <include file="$(find robot_model)/model_robot.launch"> <arg name="robot_name" value="$(arg robot_name)"/> </include> <group ns="$(arg robot_name)"> <!-- AMCL --> <arg name="custom_amcl_launch_file" default="$(find multi_navigation)/launch/amcl.multi.launch.xml"/> <arg name="robot_x_pos" default="0.0"/> <arg name="robot_y_pos" default="0.0"/> <arg name="robot_a_pos" default="0.0"/> <include file="$(arg custom_amcl_launch_file)"> <arg name="global_frame_id" value="/map"/> <arg name="odom_frame_id" value="$(arg robot_name)/odom"/> <arg name="base_frame_id" value="$(arg robot_name)/base_footprint"/> <arg name="initial_pose_x" value="$(arg robot_x_pos)"/> <arg name="initial_pose_y" value="$(arg robot_y_pos)"/> <arg name="initial_pose_a" value="$(arg robot_a_pos)"/> </include> <!-- move_base --> <arg name="custom_param_file" default="$(find multi_navigation)/param/dummy.yaml"/> <include file="$(find multi_navigation)/launch/move_base_robot.launch.xml"> <arg name="global_frame_id" value="/map"/> <arg name="odom_frame_id" value="/$(arg robot_name)/odom"/> <arg name="base_frame_id" value="/$(arg robot_name)/base_footprint"/> <arg name="odom_topic" value="/$(arg robot_name)/odom" /> <arg name="laser_topic" value="/$(arg robot_name)/scan" /> <arg name="cmd_topic" value="/$(arg robot_name)/cmd_vel" /> <arg name="custom_param_file" value="$(arg custom_param_file)"/> </include> </group> </launch>
amcl.multi.launch.xml 代码如下：
//
<launch> <arg name="robot_name" default="" /> <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"/> <node pkg="amcl" type="amcl" name="amcl"> <param name="use_map_topic" value="$(arg use_map_topic)"/> <!-- Publish scans from best pose at a max of 10 Hz --> <param name="odom_model_type" value="diff"/> <param name="odom_alpha5" value="0.1"/> <param name="gui_publish_rate" value="10.0"/> <param name="laser_max_beams" value="60"/> <param name="laser_max_range" value="12.0"/> <param name="min_particles" value="500"/> <param name="max_particles" value="2000"/> <param name="kld_err" value="0.05"/> <param name="kld_z" value="0.99"/> <param name="odom_alpha1" value="0.25"/> <param name="odom_alpha2" value="0.25"/> <!-- translation std dev, m --> <param name="odom_alpha3" value="0.25"/> <param name="odom_alpha4" value="0.25"/> <param name="laser_z_hit" value="0.5"/> <param name="laser_z_short" value="0.05"/> <param name="laser_z_max" value="0.05"/> <param name="laser_z_rand" value="0.5"/> <param name="laser_sigma_hit" value="0.2"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_model_type" value="likelihood_field"/> <!-- <param name="laser_model_type" value="beam"/> --> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="update_min_d" value="0.2"/> <param name="update_min_a" value="0.2"/> <param name="odom_frame_id" value="$(arg odom_frame_id)"/> <param name="base_frame_id" value="$(arg base_frame_id)"/> <param name="global_frame_id" value="$(arg global_frame_id)"/> <param name="resample_interval" value="1"/> <!-- Increase tolerance because the computer can get quite busy --> <param name="transform_tolerance" value="1.25"/> <param name="recovery_alpha_slow" value="0.001"/> <param name="recovery_alpha_fast" value="0.1"/> <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="$(arg initial_pose_a)"/> <remap from="scan" to="$(arg scan_topic)"/> <remap from="static_map" to="/static_map" /> <remap from="map" to="/map" /> </node> </launch>
move_base_robot.launch.xml 代码如下：
/
<launch> <arg name="odom_frame_id" default="odom"/> <arg name="base_frame_id" default="base_footprint"/> <arg name="global_frame_id" default="/map"/> <arg name="odom_topic" default="odom" /> <arg name="laser_topic" default="scan" /> <arg name="cmd_topic" default="cmd_vel" /> <arg name="custom_param_file" default="$(find multi_navigation)/param/dummy.yaml"/> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find multi_navigation)/param/tank/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find multi_navigation)/param/tank/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find multi_navigation)/param/tank/local_costmap_params.yaml" command="load" /> <rosparam file="$(find multi_navigation)/param/tank/global_costmap_params.yaml" command="load" /> <rosparam file="$(find multi_navigation)/param/tank/move_base_params.yaml" command="load" /> <rosparam file="$(find multi_navigation)/param/tank/base_local_planner_params.yaml" command="load" /> <!-- external params file that could be loaded into the move_base namespace --> <rosparam file="$(arg custom_param_file)" 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="$(arg global_frame_id)"/> <param name="local_costmap/robot_base_frame" value="$(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="$(arg cmd_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> <remap from="scan" to="$(arg laser_topic)"/> </node> </launch>
3.3、导航实现效果
rqt_tf_tree
rqt_graph
多机导航
