include file="$(find racecar)/launch/includes/amcl.launch.xml"> <arg name="init_x" value="$(arg init_x)"/> <arg name="init_y" value="$(arg init_y)"/> <arg name="init_a" value="$(arg init_a)"/> </include>
时间: 2023-10-06 08:08:09 浏览: 119
这是一个ROS的launch文件中的一个include标签,用于引用名为amcl.launch.xml的Launch文件,并传递一些参数给该Launch文件。其中,包含以下参数设置:
1. file:引用的Launch文件的路径和名称,这里是$(find racecar)/launch/includes/amcl.launch.xml。
2. arg name="init_x":传递给amcl.launch.xml的参数名为init_x。
3. value="$(arg init_x)":传递给amcl.launch.xml的init_x参数的值,它的值来自于当前Launch文件中的init_x参数。
同理,还有init_y和init_a参数也被传递给了amcl.launch.xml。这些参数的具体含义和作用,在amcl.launch.xml中会被使用。在实际应用中,可以根据需要调整这些参数的值,以便实现更准确的机器人定位和导航。
相关问题
<?xml version="1.0"?> <launch> <arg name="world_name" default="house_world" /> <arg name="gui" default="true" /> <arg name="run_camera" default="false"/> <arg name="x_pos" default="-5.388334"/> <arg name="y_pos" default="-4.094883"/> <arg name="z_pos" default="0.0"/> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find racecar_gazebo)/worlds/$(arg world_name).world"/> <arg name="gui" value="$(arg gui)"/> </include> <!-- urdf xml robot description loaded on the Parameter Server, converting the xacro into a proper urdf file--> <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find racecar_description)/urdf/racecar.xacro'" /> <!-- push robot_description to factory and spawn robot in gazebo --> <node name="racecar_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model racecar -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)" /> <!-- ros_control racecar launch file --> <include file="$(find racecar_control)/launch/racecar_control.launch" ns="/"/> <!-- Spawn the MUXs --> <arg name="racecar_version" default="racecar-v2" /> <include file="$(find racecar)/launch/mux.launch" ns="vesc" /> <!-- Publish "better odom" topic that is normally generated by the particle filter --> <node name="better_odom" pkg="topic_tools" type="relay" args="/vesc/odom /pf/pose/odom" /> <!--Launch the simulation joystick control--> <rosparam command="load" file="$(find racecar_gazebo)/config/keyboard_teleop.yaml" /> <node pkg="racecar_gazebo" type="keyboard_teleop.py" name="keyboard_teleop" /> </launch> 判断是否正确调用urdf_spawner节点 第二 rospack depends racecar_gazebo rospack depends racecar_control检查后依赖缺失,给出补全依赖的代码
### 验证URDF_spawner节点是否正确调用
在ROS项目中,验证`urdf_spawner`节点是否正确调用可以通过以下方法实现:
1. 确保`robot_description`参数已正确加载到参数服务器中。可以通过以下命令检查:
```bash
rosparam get /robot_description
```
如果返回空值,说明`robot_description`未正确加载。需要确保在`launch`文件中包含以下内容[^1]:
```xml
<param name="robot_description" textfile="$(find racecar_gazebo)/urdf/racecar.urdf" />
```
2. 检查`spawn_model`节点的调用是否正确。以下是标准的`spawn_model`节点配置:
```xml
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model racecar -x 0 -y 0 -z 1 -param robot_description" />
```
3. 如果模型未能成功加载,可能是因为Gazebo插件或URDF文件存在问题。可以尝试手动加载URDF文件以排查问题:
```bash
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -urdf -model racecar -x 0 -y 0 -z 1 -param robot_description
```
---
### 检查依赖关系并补全缺失依赖
#### 使用`rospack depends`命令检查依赖
运行以下命令检查`racecar_gazebo`和`racecar_control`的依赖关系:
```bash
rospack depends racecar_gazebo
rospack depends racecar_control
```
如果输出中缺少某些依赖项,例如`gazebo_ros`, `controller_manager`, 或`ackermann_msgs`,需要安装这些依赖。
#### 补全缺失依赖的解决方案
以下是一些常见依赖及其安装方法:
1. 安装`gazebo_ros`相关包:
```bash
sudo apt-get install ros-noetic-gazebo-ros*
```
2. 安装`controller_manager`:
```bash
sudo apt-get install ros-noetic-controller-manager
```
3. 安装`ackermann_msgs`:
```bash
sudo apt-get install ros-noetic-ackermann-msgs
```
4. 如果存在其他自定义依赖(如Python库),可以在`package.xml`中添加相应依赖,并通过以下命令安装:
```bash
rosdep install --from-paths src --ignore-src -r -y
```
---
### 示例代码:修复依赖并加载控制器
以下是一个示例脚本,用于检查并加载控制器:
```python
#!/usr/bin/env python3
import rospy
from controller_manager_msgs.srv import LoadController, SwitchController
def load_and_start_controllers():
rospy.wait_for_service('/controller_manager/load_controller')
rospy.wait_for_service('/controller_manager/switch_controller')
load_srv = rospy.ServiceProxy('/controller_manager/load_controller', LoadController)
switch_srv = rospy.ServiceProxy('/controller_manager/switch_controller', SwitchController)
controllers_to_load = [
'left_rear_wheel_velocity_controller',
'right_rear_wheel_velocity_controller',
'left_front_wheel_velocity_controller',
'right_front_wheel_velocity_controller',
'left_steering_hinge_position_controller',
'right_steering_hinge_position_controller',
'joint_state_controller'
]
for controller in controllers_to_load:
try:
load_srv(controller)
except rospy.ServiceException as e:
rospy.logerr(f"Failed to load {controller}: {e}")
try:
switch_srv(start_controllers=controllers_to_load, stop_controllers=[], strictness=1)
except rospy.ServiceException as e:
rospy.logerr(f"Failed to start controllers: {e}")
if __name__ == '__main__':
rospy.init_node('controller_loader', anonymous=True)
load_and_start_controllers()
```
---
###
<?xml version="1.0"?> <launch> <!-- Launch the racecar --> <include file="$(find racecar_gazebo)/launch/racecar.launch"> <arg name="world_name" value="house_world"/> </include> <!-- Launch the built-map --> <node name="map_server" pkg="map_server" type="map_server" args="$(find racecar_gazebo)/map/house .yaml" /> <!--Launch the move base with time elastic band--> <param name="/use_sim_time" value="true"/> <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="$(find racecar_gazebo)/config/local_costmap_params.yaml" command="load" /> <rosparam file="$(find racecar_gazebo)/config/global_costmap_params.yaml" command="load" /> <rosparam file="$(find racecar_gazebo)/config/teb_local_planner_params.yaml" command="load" /> <param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="planner_frequency" value="0.01" /> <param name="planner_patience" value="5.0" /> <!--param name="use_dijkstra" value="false" /--> <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /> <param name="controller_frequency" value="5.0" /> <param name="controller_patience" value="15.0" /> <param name="clearing_rotation_allowed" value="false" /> </node> </launch>
### 正确配置ROS中的racecar_gazebo、move_base和teb_local_planner以实现导航功能
在ROS中,使用`racecar_gazebo`、`move_base`和`teb_local_planner`实现导航功能需要正确配置多个文件。以下是详细的配置方法:
#### 1. 配置 `racecar_gazebo`
`racecar_gazebo` 是用于启动 Gazebo 模拟环境的包。通过该包可以加载机器人模型和仿真地图。启动 Gazebo 的命令如下:
```bash
roslaunch racecar_gazebo racecar_rviz.launch
```
此外,为了实现导航功能,还需要启动导航相关的 launch 文件:
```bash
roslaunch racecar_gazebo racecar_runway_navigation.launch
```
如果需要修改默认的导航配置,可以通过编辑 `racecar_runway_navigation.launch` 文件来完成[^2]。
#### 2. 配置 `move_base`
`move_base` 是 ROS 中的核心导航节点,负责全局路径规划和局部路径跟踪。以下是配置的关键点:
- **参数文件**:通常 `move_base` 的参数存储在 YAML 文件中,例如 `costmap_common_params.yaml`、`global_costmap_params.yaml` 和 `local_costmap_params.yaml`。
- **全局规划器**:推荐使用 `navfn/NavfnROS` 或 `global_planner/GlobalPlanner`。
- **局部规划器**:在这里我们将使用 `teb_local_planner`。
以下是一个示例的 `move_base` 参数配置:
```yaml
move_base:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
planner_frequency: 1.0
controller_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.5
```
#### 3. 配置 `teb_local_planner`
`teb_local_planner` 是一种高效的局部路径规划器,支持动态避障和时间优化。以下是其关键配置:
- **参数文件**:通常存储在 `teb_local_planner_params.yaml` 中。
- **关键参数**:
- `min_obstacle_dist`:机器人与障碍物之间的最小安全距离。
- `max_global_plan_lookahead_dist`:全局路径的最大前视距离。
- `weight_viapoints`:通过点的权重。
- `weight_obstacle`:障碍物的权重。
以下是一个示例的 `teb_local_planner` 参数配置:
```yaml
TebLocalPlannerROS:
max_global_plan_lookahead_dist: 3.0
min_obstacle_dist: 0.4
viapoint_displacement: 0.5
weight_max_vel_x: 2.0
weight_acc_lim_x: 1.0
weight_kinematics_turning_radius: 1.0
weight_obstacle: 5.0
weight_dynamic_obstacle: 10.0
weight_viapoints: 1.0
telemetry_output_level: 2
```
#### 4. 创建自定义 Launch 文件
将上述配置整合到一个 launch 文件中。以下是一个示例 launch 文件:
```xml
<launch>
<!-- 启动 Gazebo -->
<include file="$(find racecar_gazebo)/launch/racecar_empty_world.launch" />
<!-- 启动 RViz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find racecar_gazebo)/rviz/nav.rviz" />
<!-- 启动 move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find racecar_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find racecar_gazebo)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find racecar_gazebo)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find racecar_gazebo)/config/base_local_planner_params.yaml" command="load" />
</node>
<!-- 设置局部规划器为 teb_local_planner -->
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<rosparam file="$(find racecar_gazebo)/config/teb_local_planner_params.yaml" command="load" />
</launch>
```
#### 5. 测试导航功能
启动上述 launch 文件后,可以在 RViz 中使用 `2D Nav Goal` 发布目标点,观察机器人是否能够按照规划的路径移动。
---
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