ROS仿真

harry-iot

一、Stage simulator
二、Rviz

一、Stage simulator
•Actuator model
•Blinkenlight model
•Blobfinder model
•Camera model
•Fiducial detector model
•Gripper model
•Position model
•Ranger model
•Wifi model

•Ranger model

ranger

   (

   sensor (

   pose [ x y z a ]

   size [  x y z ]

   fov a

   range [min max]

   )

   watts 2.0

   color_rgba [ 0 1 00.15 ]

   )

•Position model

position

    (

    drive "diff"

    velocity [ 0.0 0.0 0.0 0.0 ]

    localization "gps"

    localization_origin [ <defaults tomodel's start pose> ]

    odom_error [0.03 0.03 0.00 0.05]

    wheelbase 1.0  

    velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]  

    acceleration_bounds [-1 1 -1 1 -1 1 -90 90]

    )

•Blobfindermodel

blobfinder

    (

     colors_count 0

     colors [ ]

     image[ 80 60 ]

     range 12.0

     fov 3.14159/3.0

     pan 0.0

     size [ 0.0 0.0 0.0 ]

    )

•订阅的主题

/cmd_vel (geometry_msgs/Twist)

•发布的主题

/odom(nav_msgs/Odometry)

/base_scan(sensor_msgs/LaserScan)

/base_pose_ground_truth(nav_msgs/Odometry)

/image(sensor_msgs/Image)

/depth(sensor_msgs/Image)

/camera_info(sensor_msgs/CameraInfo)

提供的tf

base_link → base_laser

base_footprint → base_link

odom → base_footprint

base_link → camera

•控制机器人运动

sudo apt-get install ros-indigo-teleop-twist-keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

•简单的gmapping&保存map

rosrun gmapping slam_gmapping scan:=base_scan

rosrun map_server map_saver

•激光雷达应用：障碍物检测


•sensor_msgs/LaserScan.msg


std_msgs/Headerheader
float32angle_min
float32angle_max
float32angle_increment
float32time_increment
float32scan_time
float32range_min
float32range_max
float32[] ranges
float32[] intensities







Rviz属性



•turtlebot_stage in Rviz
•安装：sudo apt-getinstall ros-indigo-turtlebot-simulator
•运行：roslaunchturtlebot_stage turtlebot_in_stage.launch
•troubleshooting

Invalid <arg> tag: environment variable'TURTLEBOT_STAGE_MAP_FILE' is not set.
Argxml is <argdefault=" $(env TURTLEBOT_STAGE_MAP_FILE)" name="map_file"/>
The traceback for the exception waswritten to the log file
export TURTLEBOT_STAGE_WORLD_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/stage/maze.world"
export TURTLEBOT_STAGE_MAP_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/maze.yaml"


运行指定的Rviz文件
rosrun rviz rviz -d `rospack find stage_ros`/rviz/stage.rviz
•stage_ros gmapping

<launch>
<nodename="stage" pkg="stage_ros" type="stageros" args="$(find
stage_ros)/world/willow-erratic.world"/>
<nodename="gmapping" pkg="gmapping" type="slam_gmapping">
<paramname="scan" value="base_scan"/>
</node>
<nodename="rviz" pkg="rviz" type="rviz" args="$(find
stage_ros)/rviz/stage.rviz"/>
</launch>
•在Rviz中载入地图

<launch>
<arg name="map_file"default="$(find my_package)/maps/willow-full-
0.05.pgm"/>
<!-- Run the map server -->
<node name="map_server"pkg="map_server" type="map_server" args="$(arg
map_file) 0.05" />
</launch>

qsoiuwisjiuw

有没有更多注释一点