Turtlebot(Kuboki)+Kinect+Huyoko建立gmapping地图，实现自主避障导航

这篇文章主要介绍如何使用Turtlebot(Kuboki) + Kinect + Hokuyo建立gmapping地图，并且实现边建图编导航，最后使用ros map命令保存生成的地图。

设备清单：

1、Turtlebot(Kuboki)

2、Microsoft Kinect 1代

3、Hokuyo UTM-30LX

环境配置：

这里假设你已经在Turtlebot的工作本上安装了Ubuntu 14.04 + ROS Indigo，我也是用的这个环境，如果还没有安装，参考ROS Indigo的wiki：Ubuntu install of ROS Indigo。

安装Turtlebot的驱动：

sudo apt-get update
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

如果你的底盘是kuboki，那么再多加两条：

sudo apt-get install ros-indigo-kobuki ros-indigo-kobuki-core
rosrun kobuki_ftdi create_udev_rules

接下来需要安装kinect驱动，推荐使用freenect：

sudo apt-get install libfreenect-dev
sudo apt-get install ros-indigo-freenect-launch

设置你的3D sensor为kinect，设置完需要关闭当前窗口，打开新的terminal使之生效。

echo "export TURTLEBOT_3D_SENSOR=kinect" >> .bashrc

下载雷达驱动包和导航包，并编译：

mkdir -p  ~/turtlebot_ws/src
cd   ~/turtlebot_ws/src
git clone https://github.com/ncnynl/hokuyo_node.git
git clone https://github.com/turtlebot/turtlebot_apps 
cd  ~/turtlebot_ws
catkin_make

在~/.bashrc最后一行添加（可以使用命令 sudo vi ~/.bashrc, vi的使用方法得自己百度了）：

source /home/ubu/turtlebot_ws/devel/setup.bash

使刚才的修改生效：

source ~/.bashrc

下面需要配置你的激光雷达Hokuyo，运行命令：

lsusb

找到一条类似于这个的反馈结果：

Bus 001 Device 006: ID 15d1:0000
新建/etc/udev/rules.d/hokuyo.rules文件，内容如下：

KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", SYMLINK+="hokuyo"
增加当前用户对串口的默认访问权限：

sudo usermod -a -G dialout 用户名

使UDEV配置生效：（使串口的默认访问权限生效，需要重启机器）

sudo service udev reload
sudo service udev restart

创建launch文件：
复制hokuyo_node的hokuyo_test.launch到hokuyo_laser.launch，并增加TF定义

roscd turtlebot_navigation
mkdir -p laser/driver
sudo cp ~/turtlebot_ws/src/hokuyo_node/hokuyo_test.launch laser/driver/hokuyo_laser.launch

打开hokuyo_laser.launch，并修改

rosed laser/driver/hokuyo_laser.launch

内容如下：

<launch>
  <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">

  <!-- Starts up faster, but timestamps will be inaccurate. --> 
  <param name="calibrate_time" type="bool" value="false"/> 

  <!-- Set the port to connect to here -->
  <param name="port" type="string" value="/dev/hokuyo"/> 
  <param name="frame_id"  type="string" value="laser"/>
  <param name="intensity" type="bool" value="false"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/>
</launch>

增加hokuyo_gmapping_demo.launch文件，用于启动gmapping.

roscd  turtlebot_navigation
touch  launch/hokuyo_gmapping_demo.launch
rosed  launch/hokuyo_gmapping_demo.launch

内容如下：

<launch>

  <!-- 3D sensor -->
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
    
    <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
         Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 --> 
    <arg name="scan_topic" value="/scan" />
  </include>

  <!-- Define laser type-->
  <arg name="laser_type" default="hokuyo" />

  <!-- laser driver -->
  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />

  <!-- Gmapping -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg laser_type)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>

  <!-- Move base -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


</launch>

增加hokuyo_gmapping.launch.xml文件，执行gmapping建图

roscd  turtlebot_navigation
touch  launch/includes/gmapping/hokuyo_gmapping.launch.xml 
rosed  launch/includes/gmapping/hokuyo_gmapping.launch.xml 

输入内容：

<launch>
  <arg name="scan_topic"  default="scan" />
  <arg name="base_frame"  default="base_footprint"/>
  <arg name="odom_frame"  default="odom"/>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg base_frame)"/>
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="200"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="80"/>
  <!--
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
  make the starting size small for the benefit of the Android client"s memory...
  -->
    <param name="xmin" value="-1.0"/>
    <param name="ymin" value="-1.0"/>
    <param name="xmax" value="1.0"/>
    <param name="ymax" value="1.0"/>

    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

测试激光雷达gmapping构建地图与导航
唤醒Turtlebot底盘

roslaunch turtlebot_bringup minimal.launch

启动gmapping

roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch

打开rviz查看地图

roslaunch turtlebot_rviz_launchers view_navigation.launch

点击rviz的2D Navigation按钮，在建好的地图上左键单击并拖动，Turtlebot会自己进行导航，这时如果你突然出现在Turtlebot前面，它会重新规划路线饶过你
或者可以键盘控制Turtlebot建图

roslaunch turtlebot_teleop keyboard_teleop.launch 

保存地图

mkdir -p ~/map
rosrun map_server map_saver -f ~/map/hokuyo_gmapping
ls ~/map   #查看内容，包含hokuyo_gmapping.pgm  hokuyo_gmapping.yaml

建立的实验室平面图

References

http://wiki.ros.org/kobuki/Tutorials/Installation

http://wiki.ros.org/indigo/Installation/Ubuntu

http://www.ncnynl.com/archives/201611/1097.html

http://www.ncnynl.com/archives/201609/794.html