测试social_navigation_layers
目标:测试social_navigation_layers
方法:
使用move_base接口启动costmap_2d
这样就能直接用configure方法来进行测试不用自己写代码
一、启动move_base
1、launch file
<launch> <!-- Launch move_base and load all navigation parameters --> <include file="$(find costmap_test)/config/move_base_config/move_base.xml"/> <!-- Run the map server with a blank map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find pioneer_xtion)/stage_config/maps/blank_map.yaml" /> <!--costmap 必须的tf变换 看http://wiki.ros.org/costmap_2d#tf Required tf Transforms--> <!--global costmap --> <node name="static_tf0" pkg="tf" type="static_transform_publisher" args="2 0 0 0 0 0 /map /base_link 100"/> <!--local costmap --> <node name="static_tf1" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /odom /map 100"/> <!--发布people msgs--> <node name = "people" pkg="people_velocity_tracker" type="static.py" args="2 2 1 1"/> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find costmap_test)/rviz/single_robot.rviz" /> </launch>
2、movebase config,common costmap config,local costmap config,global costmap config
<launch> <!-- Example move_base configuration. Descriptions of parameters, as well as a full list of all amcl parameters, can be found at http://www.ros.org/wiki/move_base. --> <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen"> <param name="footprint_padding" value="0.01" /> <param name="controller_frequency" value="10.0" /> <param name="controller_patience" value="3.0" /> <param name="oscillation_timeout" value="30.0" /> <param name="oscillation_distance" value="0.5" /> <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> <!-- ns = global costmap 加载参数到 global costmap这个node里--> <rosparam file="$(find costmap_test)/config/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find costmap_test)/config/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find costmap_test)/config/move_base_config/local_costmap_params.yaml" command="load" /> <rosparam file="$(find costmap_test)/config/move_base_config/global_costmap_params.yaml" command="load" /> <rosparam file="$(find costmap_test)/config/move_base_config/base_local_planner_params.yaml" command="load" /> <rosparam file="$(find costmap_test)/config/move_base_config/dwa_local_planner_params.yaml" command="load" /> </node> </launch>
common costmap config
#This file contains common configuration options for the two costmaps used in the navigation stack for more details on the parameters in this file, and a full list of the parameters used by the costmaps, please see http://www.ros.org/wiki/costmap_2d #For this example we'll configure the costmap in voxel-grid mode map_type: voxel #Voxel grid specific parameters origin_z: 0.0 z_resolution: 0.2 z_voxels: 10 unknown_threshold: 9 mark_threshold: 0 #Set the tolerance we're willing to have for tf transforms transform_tolerance: 0.5 #Obstacle marking parameters obstacle_range: 2.5 max_obstacle_height: 2.0 raytrace_range: 3.0 #The footprint of the robot and associated padding #footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] robot_radius: 0.2 footprint_padding: 0.01 #Cost function parameters inflation_radius: 0.5 cost_scaling_factor: 0.1 #The cost at which a cell is considered an obstacle when a map is read from the map_server lethal_cost_threshold: 100 #Configuration for the sensors that the costmap will use to update a map #configuration for plugins plugins: - {name: static_map, type: "costmap_2d::StaticLayer"} - {name: obstacles, type: "costmap_2d::VoxelLayer"} - {name: proxemicLayer, type: "social_navigation_layers::ProxemicLayer"}
global costmap config
#Independent settings for the global planner's costmap. Detailed descriptions of these parameters can be found at http://www.ros.org/wiki/costmap_2d <!--global costmap config 如果global_costmap改成其他名字,则param名字也会改--> global_costmap: #Set the global and robot frames for the costmap global_frame: map robot_base_frame: base_link #Set the update and publish frequency of the costmap update_frequency: 2.0 publish_frequency: 0.0 #We'll use a map served by the map_server to initialize this costmap static_map: true rolling_window: false footprint_padding: 0.02
local costmap config
#Independent settings for the local planner's costmap. Detailed descriptions of these parameters can be found at http://www.ros.org/wiki/costmap_2d local_costmap: #We'll publish the voxel grid used by this costmap publish_voxel_map: true #Set the global and robot frames for the costmap global_frame: odom robot_base_frame: base_link #Set the update and publish frequency of the costmap update_frequency: 2.0 publish_frequency: 2.0 #We'll configure this costmap to be a rolling window... meaning it is always #centered at the robot static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.01 origin_x: 0.0 origin_y: 0.0
二、发布people_msgs
使用
http://wiki.ros.org/people_velocity_tracker?distro=kinetic
people_velocity_tracker
static.py
效果图
往速度方向增长代价