二、导航准备 详见wiki官网http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide(对工程实践有很好的借鉴意义) 1、机器人组成 (1)距离传感器 (2)里程计 第一个测试检查里程表旋转的合理程度。我打开rviz,将框架设置为“ odom”,显示机器人提供的激光扫描,将
ros::service::waitForService("spawn"); //阻塞程序运行 listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0)); learning_tf turtle2跟随turtle1 具体函数用法和函数参数意义见API; 1.2 main()参数解释 关于int main( int argc, char* argv[] ) 中arg和argv参数的解...
本教程中将会创建一个简单的直线规划器。本教程中的注释代码可以在navigation_tutorials资源库的nav2_straightline_planner软件包中找到。这个软件包可以作为编写规划器插件的参考。 本示例插件继承自基类nav2_core::GlobalPlanner。该基类提供了5个纯虚方法来实现规划器插件。规划器服务器将会使用插件来计算轨迹。下面来了...
nav2_gps_waypoint_follower_demo nav2_gradient_costmap_plugin nav2_pure_pursuit_controller nav2_sms_behavior nav2_straightline_planner sam_bot_description .gitignore README.md Repository files navigation README navigation2_tutorials Tutorial code referenced in https://docs.nav2.org/About...
$ sudo apt-get install ros-%YOUR_ROS_DISTRO%-navigation-tutorials 1. 创建节点广播tf变换 在robot_setup_tf包中,创建src/tf_broadcaster.cpp #include <ros/ros.h> #include <tf/transform_broadcaster.h> int main(int argc, char** argv){ ...
您可以以相同的方式添加本地路径。 现在点击 “2D nav goal”按钮(在顶部),并选择目标位置。你现在可以看到你的机器人走向目标。 测试地图: willow_garage_map.pgm willow_garage_map.yaml 参考: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS...
With the basic landmark detail view set up, you need to provide a way for users to see the full list of landmarks, and to view the details about each location.
Developing a new Planner pluginAs an example, we'll create a simple straight-line planner. The commented code for this tutorial can be found in the nav2_straightline_planner package within the navigation_tutorials repository. This package serves as a reference for creating planner ...
//github.com/ros-planning/navigation2_tutorials.gitversion:masterteb_local_planner:type:giturl:https://ghproxy.com/https://github.com/rst-tu-dortmund/teb_local_planner.gitversion:ros2-masterturtlebot3:type:giturl:https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.gitversion:...
To adapt this demo to your own Husky, you may need to clone thehusky_cartographer_navigationrepository, and modify the relevant parameters. To learn about move_base and the navigation stack, see theNavigation Tutorials. To learn more about Google Cartographer for ROS, see theCartographer ROSdocume...