Software de navegação e localização

Robot mapping

http://wiki.ros.org/gmapping

ros gmapping install

sudo apt install ros-kinetic-gmapping

ros launch file

<node name=”gmap” pkg=”gmapping” type=”slam_gmapping” respawn=”true” respawn_delay=”30″ output=”screen”>
<param name=”linearUpdate” type=”double” value=”0.0″ />
<param name=”angularUpdate” type=”double” value=”0.0″ />
<param name=”map_update_interval” type=”double” value=”5.0″ />
<param name=”throttle_scans” type=”int” value=”1″ />

<!– laser config –>
<param name=”maxUrange” type=”double” value=”10.0″ />
<param name=”maxRange” type=”double” value=”11.0″ />

<!– map size & resolution–>
<param name=”xmin” type=”double” value=”-20.0″ />
<param name=”ymin” type=”double” value=”-20.0″ />
<param name=”xmax” type=”double” value=”20.0″ />
<param name=”ymax” type=”double” value=”20.0″ />
<param name=”delta” type=”double” value=”0.05″ />

<!– odometry error –>
<param name=”srr” type=”double” value=”0.1″ />
<param name=”srt” type=”double” value=”0.2″ />
<param name=”str” type=”double” value=”0.1″ />
<param name=”stt” type=”double” value=”0.2″ />
</node>

Robot navigation

http://wiki.ros.org/navigation/Tutorials/RobotSetup

ros install basic navigation stack

sudo apt install ros-kinetic-global-planner
sudo apt install ros-kinetic-dwa-local-planner

launch file

<node name=”move_base” pkg=”move_base” type=”move_base” respawn=”false” output=”screen”>
<rosparam file=”$(find rospibot6)/param/costmap_common_params.yaml” command=”load” ns=”global_costmap” />
<rosparam file=”$(find rospibot6)/param/costmap_common_params.yaml” command=”load” ns=”local_costmap” />
<rosparam file=”$(find rospibot6)/param/local_costmap_params.yaml” command=”load” />
<rosparam file=”$(find rospibot6)/param/global_costmap_params.yaml” command=”load” />
<rosparam file=”$(find rospibot6)/param/base_local_planner_params.yaml” command=”load” />
<rosparam file=”$(find rospibot6)/param/dwa_local_planner_params.yaml” command=”load” />
<rosparam file=”$(find rospibot6)/param/move_base_params.yaml” command=”load” />
</node>
parameters files

sudo apt install ros-kinetic-amcl

 

Robot localization with sensor fusion

http://wiki.ros.org/robot_localization

sudo apt install ros-kinetic-robot-localization

http://wiki.ros.org/robot_pose_ekf

sudo apt install ros-kinetic-robot-pose-ekf

sudo apt-get install ros-kinetic-move-base-msgs