Ros2 地图保存
首先我启动bringup_launch.py,并将slam设置为True,来到达建图的效果。
# Launch the ROS 2 Navigation Stack
start_ros2_navigation_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(nav2_launch_dir, 'bringup_launch.py')),
launch_arguments = {'namespace': namespace,
'use_namespace': use_namespace,
'slam': slam,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'params_file': params_file,
'autostart': autostart}.items())
ringup_launch.py中其实最终是调用了ros-foxy-slam-toolbox(我ros2用的foxy版本)来进行建图。
如该通过命令:
ros2 run nav2_map_server map_saver_cli -f <map_name>
进行保存地图会报错。
但是如果使用cartographer进行建图:
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
用上面的命令,是可以保存的。
这里想解决的问题是,slam-toolbox建图的情况下,如何保存地图。
这里我们要写一个节点,来启动map_server.
完整代码可以参考:
https://github.com/songhuangong/MyRosTesthttps://github.com/songhuangong/MyRosTest
#!/usr/bin/env python3
# This is the launch file used for ROS Foxy and older.
# Launch this file to save a map created in RViz.
# 建图完成后,还需输入命令:
# ros2 service call /map_saver/save_map nav2_msgs/srv/SaveMap "{map_topic: map, map_url: my_map, image_format: pgm, map_mode: trinary, free_thresh: 0.25, occupied_thresh: 0.65}"
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
def generate_launch_description():
# .................. Configurable Arguments .....................
use_sim_time = True
map_saver_params_file = 'map_saver_params.yaml'
# ...............................................................
pkg_dir = get_package_share_directory('launch_test')
map_save_config = os.path.join(pkg_dir, 'params', map_saver_params_file)
return LaunchDescription([
DeclareLaunchArgument("use_sim_time", default_value=str(use_sim_time), description="Use simulation/Gazebo clock"),
DeclareLaunchArgument("map_saver_params_file", default_value=map_save_config, description="Map Saver Configuration File"),
Node(
package='nav2_map_server',
executable='map_saver_server',
output='screen',
emulate_tty=True,
parameters=[LaunchConfiguration('map_saver_params_file')]
),
Node(
package='nav2_lifecycle_manager',
executable='lifecycle_manager',
name='lifecycle_manager',
output='screen',
emulate_tty=True,
parameters=[
{'use_sim_time': LaunchConfiguration('use_sim_time')},
{'autostart': True},
{'node_names': ['map_saver']}]
)
])
Nav2里有个生命周期的节点管理,所以这里除了启动map_saver_server节点,还需将其节点的状态切换成Active才行。节点启动之后,就发如下命令就可以保存当前建好的地图了:
ros2 service call /map_saver/save_map nav2_msgs/srv/SaveMap "{map_topic: map, map_url: my_map, image_format: pgm, map_mode: trinary, free_thresh: 0.25, occupied_thresh: 0.65}"
作者:宋桓公
出处:http://www.cnblogs.com/douzi2/
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