ros多机通信网络设置、建图

ros小车网络设置

编辑  bashrc

wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ nano .bashrc
wheeltec@wheeltec:~$ 

 

export ROS_MASTER_URI=http://192.168.0.100:11311
export ROS_HOSTNAME=192.168.0.100    

 

保存更改

wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ source .bashrc
wheeltec@wheeltec:~$ 

 

 

本机网络设置

bim@bim-ThinkPad-T440p:~$ 
bim@bim-ThinkPad-T440p:~$ nano .bashrc
bim@bim-ThinkPad-T440p:~$ 
bim@bim-ThinkPad-T440p:~$ 

 

export ROS_MASTER_URI=http://192.168.0.100:11311     #ROS小车 的 ip地址
export ROS_HOSTNAME=192.168.0.223  #本机的 ip地址

 

保存更改

bim@bim-ThinkPad-T440p:~$ 
bim@bim-ThinkPad-T440p:~$ source .bashrc
bim@bim-ThinkPad-T440p:~$ 

 

 

建图

ROS小车运行建图命令： roslaunch turn_on_wheeltec_robot mapping.launch

wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ roslaunch turn_on_wheeltec_robot mapping.launch
... logging to /home/wheeltec/.ros/log/d8a32938-09fe-11eb-90b8-dca632c35b35/roslaunch-wheeltec-2332.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.100:35923/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/sensor_timeout: 2.0
 * /robot_pose_ekf/vo_used: False
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/serial_baudrate: 115200
 * /rplidarNode/serial_port: /dev/rplidar_laser
 * /slam_gmapping/angularUpdate: 0.0436
 * /slam_gmapping/astep: 0.05
 * /slam_gmapping/base_frame: base_footprint
 * /slam_gmapping/delta: 0.05
 * /slam_gmapping/iterations: 5
 * /slam_gmapping/kernelSize: 3
 * /slam_gmapping/lasamplerange: 0.005
 * /slam_gmapping/lasamplestep: 0.005
 * /slam_gmapping/linearUpdate: 0.05
 * /slam_gmapping/llsamplerange: 0.01
 * /slam_gmapping/llsamplestep: 0.01
 * /slam_gmapping/lsigma: 0.075
 * /slam_gmapping/lskip: 0
 * /slam_gmapping/lstep: 0.05
 * /slam_gmapping/map_update_interval: 0.01
 * /slam_gmapping/maxRange: 5.0
 * /slam_gmapping/maxUrange: 4.0
 * /slam_gmapping/minimumScore: 30
 * /slam_gmapping/odom_frame: odom_combined
 * /slam_gmapping/ogain: 3.0
 * /slam_gmapping/particles: 8
 * /slam_gmapping/resampleThreshold: 0.5
 * /slam_gmapping/sigma: 0.05
 * /slam_gmapping/srr: 0.01
 * /slam_gmapping/srt: 0.02
 * /slam_gmapping/str: 0.01
 * /slam_gmapping/stt: 0.02
 * /slam_gmapping/temporalUpdate: -1.0
 * /slam_gmapping/xmax: 1.0
 * /slam_gmapping/xmin: -1.0
 * /slam_gmapping/ymax: 1.0
 * /slam_gmapping/ymin: -1.0
 * /velocity_smoother/accel_lim_v: 0.1
 * /velocity_smoother/accel_lim_w: 0.2
 * /velocity_smoother/decel_factor: 1.0
 * /velocity_smoother/frequency: 20.0
 * /velocity_smoother/robot_feedback: 0
 * /velocity_smoother/speed_lim_v: 0.2
 * /velocity_smoother/speed_lim_w: 0.4
 * /wheeltec_robot/product_number: 0
 * /wheeltec_robot/robot_frame_id: base_footprint
 * /wheeltec_robot/serial_baud_rate: 115200
 * /wheeltec_robot/smoother_cmd_vel: smoother_cmd_vel
 * /wheeltec_robot/usart_port_name: /dev/wheeltec_con...

NODES
  /
    base_to_camera (tf/static_transform_publisher)
    base_to_gyro (tf/static_transform_publisher)
    base_to_laser (tf/static_transform_publisher)
    base_to_link (tf/static_transform_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    nodelet_manager (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rplidarNode (rplidar_ros/rplidarNode)
    slam_gmapping (gmapping/slam_gmapping)
    velocity_smoother (nodelet/nodelet)
    wheeltec_robot (turn_on_wheeltec_robot/wheeltec_robot_node)

auto-starting new master
process[master]: started with pid [2361]
ROS_MASTER_URI=http://192.168.0.100:11311

setting /run_id to d8a32938-09fe-11eb-90b8-dca632c35b35
process[rosout-1]: started with pid [2375]
started core service [/rosout]
process[base_to_link-2]: started with pid [2378]
process[base_to_gyro-3]: started with pid [2379]
process[base_to_laser-4]: started with pid [2380]
process[base_to_camera-5]: started with pid [2381]
process[rplidarNode-6]: started with pid [2382]
process[wheeltec_robot-7]: started with pid [2389]
process[robot_pose_ekf-8]: started with pid [2409]
[ INFO] [1602227578.190353828]: wheeltec_robot node has turned on 
process[joint_state_publisher-9]: started with pid [2418]
[ INFO] [1602227578.237645643]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
process[robot_state_publisher-10]: started with pid [2422]
process[nodelet_manager-11]: started with pid [2428]
[ INFO] [1602227578.337306532]: Data ready
process[velocity_smoother-12]: started with pid [2430]
[ INFO] [1602227578.359143606]: wheeltec_robot serial port opened
[ INFO] [1602227578.399506310]: output frame: odom_combined
[ INFO] [1602227578.408091365]: base frame: base_footprint
process[slam_gmapping-13]: started with pid [2432]
[ INFO] [1602227578.789265698]: Initializing Odom sensor
[ INFO] [1602227578.789400254]: Odom sensor activated
[ INFO] [1602227578.789648106]: Initializing Imu sensor
[ INFO] [1602227578.789719328]: Imu sensor activated
[ INFO] [1602227578.822441661]: Kalman filter initialized with odom measurement
RPLIDAR S/N: CE999A87C5E392D3A5E49EF05E4C3D65
[ INFO] [1602227580.759699123]: Firmware Ver: 1.25
[ INFO] [1602227580.759940438]: Hardware Rev: 5
[ INFO] [1602227580.761591179]: RPLidar health status : 0
[ INFO] [1602227581.311162289]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
[ INFO] [1602227581.990280993]: Laser is mounted upwards.
 -maxUrange 4 -maxUrange 5 -sigma     0.05 -kernelSize 3 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02
 -linearUpdate 0.05 -angularUpdate 0.0436 -resampleThreshold 0.5
 -xmin -1 -xmax 1 -ymin -1 -ymax 1 -delta 0.05 -particles 8
[ INFO] [1602227581.996790567]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.0327956 -0.000775587 -3.13293
m_count 0
Registering First Scan
update frame 243
update ld=0.0500759 ad=0.000210844
Laser Pose= 0.0372805 -0.0014034 -3.1329
m_count 1
Average Scan Matching Score=247.832
neff= 8
Registering Scans:Done
update frame 489
update ld=0.0500768 ad=0.000213694
Laser Pose= 0.0363343 -0.000864417 -3.13291
m_count 2
Average Scan Matching Score=248.212
neff= 8
Registering Scans:Done
update frame 751
update ld=0.0501986 ad=0.000222049
Laser Pose= 0.0366387 -0.00127478 -3.13291
m_count 3
Average Scan Matching Score=254.195
neff= 8
Registering Scans:Done
update frame 1004
update ld=0.0501093 ad=0.000224619
Laser Pose= 0.0366602 -0.000874876 -3.13291
m_count 4
Average Scan Matching Score=246.565
neff= 8
Registering Scans:Done
update frame 1261
update ld=0.0501378 ad=0.000219669
Laser Pose= 0.0366402 -0.0012214 -3.13291
m_count 5
Average Scan Matching Score=244.527
neff= 8
Registering Scans:Done
update frame 1520
update ld=0.0500917 ad=0.000212962
Laser Pose= 0.0368401 -0.00101945 -3.13291
m_count 6
Average Scan Matching Score=249.25
neff= 8
Registering Scans:Done
[ INFO] [1602227805.522305285]: Odom sensor not active any more
[ INFO] [1602227805.522497322]: Imu sensor not active any more
[ INFO] [1602227806.548018303]: Initializing Odom sensor
[ INFO] [1602227806.548471174]: Initializing Imu sensor
[ INFO] [1602227806.597893970]: Odom sensor activated
[ INFO] [1602227806.598265359]: Imu sensor activated
update frame 1763
update ld=0.0500406 ad=0.000218761
Laser Pose= 0.0368585 -0.0012703 -3.13291
m_count 7
Average Scan Matching Score=250.187
neff= 7.99999
Registering Scans:Done
update frame 1998
update ld=0.0500109 ad=0.000214344
Laser Pose= 0.0364999 -0.00114887 -3.13291
m_count 8
Average Scan Matching Score=248.247
neff= 7.99999
Registering Scans:Done
update frame 2246
update ld=0.0500389 ad=0.000212308
Laser Pose= 0.0370197 -0.000398138 -3.13291
m_count 9
Average Scan Matching Score=245.376
neff= 7.99998
Registering Scans:Done
update frame 2481
update ld=0.0500089 ad=0.0002063
Laser Pose= 0.0371468 9.82777e-06 -3.1329
m_count 10
Average Scan Matching Score=243.232
neff= 7.99997
Registering Scans:Done
[ INFO] [1602227919.522293106]: Odom sensor not active any more
[ INFO] [1602227919.522478588]: Imu sensor not active any more
[ INFO] [1602227920.552385754]: Initializing Odom sensor
[ INFO] [1602227920.552785995]: Initializing Imu sensor
[ INFO] [1602227920.602425291]: Odom sensor activated
[ INFO] [1602227920.602800976]: Imu sensor activated
update frame 2725
update ld=0.0500577 ad=0.00021108
Laser Pose= 0.0370274 -0.000783038 -3.13291
m_count 11
Average Scan Matching Score=249.93
neff= 7.99996
Registering Scans:Done
update frame 2968
update ld=0.0500298 ad=0.000210069
Laser Pose= 0.0369282 -0.00116905 -3.13291
m_count 12
Average Scan Matching Score=249.292
neff= 7.99995
Registering Scans:Done
update frame 3215
update ld=0.0500075 ad=0.000218644
Laser Pose= 0.0368599 -0.00106197 -3.13291
m_count 13
Average Scan Matching Score=246.267
neff= 7.99995
Registering Scans:Done
update frame 3485
update ld=0.0500489 ad=0.00021138
Laser Pose= 0.0363126 -0.00094431 -3.13291
m_count 14
Average Scan Matching Score=248.305
neff= 7.99995
Registering Scans:Done
update frame 3739
update ld=0.0501318 ad=0.000213618
Laser Pose= 0.0381321 -0.000421159 -3.1329
m_count 15
Average Scan Matching Score=247.348
neff= 7.99995
Registering Scans:Done
update frame 4024
update ld=0.0502469 ad=0.000203066
Laser Pose= 0.0366177 -0.00130872 -3.13291
m_count 16
Average Scan Matching Score=243.318
neff= 7.99995
Registering Scans:Done
^C[slam_gmapping-13] killing on exit
[velocity_smoother-12] killing on exit
[nodelet_manager-11] killing on exit
[robot_state_publisher-10] killing on exit
[joint_state_publisher-9] killing on exit
[robot_pose_ekf-8] killing on exit
[wheeltec_robot-7] killing on exit
[rplidarNode-6] killing on exit
[base_to_camera-5] killing on exit
[base_to_laser-4] killing on exit
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree

 

客户端运行查看:rviz

bim@bim-ThinkPad-T440p:~$ 
bim@bim-ThinkPad-T440p:~$ rviz
[ INFO] [1633338343.824862477]: rviz version 1.13.17
[ INFO] [1633338343.824909142]: compiled against Qt version 5.9.5
[ INFO] [1633338343.824919461]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1633338343.887736534]: Forcing OpenGl version 0.
[ INFO] [1633338344.412981061]: Stereo is NOT SUPPORTED
[ INFO] [1633338344.413033180]: OpenGL device: Mesa DRI Intel(R) HD Graphics 4600 (HSW GT2)
[ INFO] [1633338344.413050833]: OpenGl version: 3.0 (GLSL 1.3).
[ INFO] [1633338363.383202924]: Creating 1 swatches
[ INFO] [1633338398.537894135]: Creating 1 swatches

 

添加map、TF，数据显示正常：

 

 

 

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