ROS2機器人實驗報告提示04➡開山⬅Nav2

ROS2基礎部分實驗内容較長的描述分别在前3次提示中。涉及文檔如下所示：

本節開始，主要涉及文檔如下圖所示：

如果不熟悉，請看直播回放，并且依據回放中的方法進行練習，注意直播時ROS2版本為foxy，鏡像中是 galactic。

本節涉及代碼在如下檔案夾：

參考：

所有代碼都已調試通過，但最好按文檔自學一遍，這樣才能掌握。

測試案例：

. install/setup.bash

ros2 launch sam_bot_description display.launch.py

ros2 launch slam_toolbox online_async_launch.py

ros2 run tf2_tools view_frames.py

ros2 launch nav2_bringup navigation_launch.py

ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker

本部分詳細介紹參考釘釘直播回放和

Nav2官方教程➡First-Time Robot Setup Guide⬅搞不定

添加雷射主題檢視效果。

修改一下：

如遇到問題獨立思考。

自主完成實驗。

import launch
from launch.substitutions import Command, LaunchConfiguration
import launch_ros
import os

def generate_launch_description():
    pkg_share = launch_ros.substitutions.FindPackageShare(package='sam_bot_description').find('sam_bot_description')
    default_model_path = os.path.join(pkg_share, 'src/description/sam_bot_description.urdf')
    default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
    world_path=os.path.join(pkg_share, 'world/my_world.sdf')
    
    robot_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
    )
    joint_state_publisher_node = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        name='joint_state_publisher',
        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
    )
    rviz_node = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
    )
    spawn_entity = launch_ros.actions.Node(
    	package='gazebo_ros', 
    	executable='spawn_entity.py',
        arguments=['-entity', 'sam_bot', '-topic', 'robot_description'],
        output='screen'
    )
    robot_localization_node = launch_ros.actions.Node(
         package='robot_localization',
         executable='ekf_node',
         name='ekf_filter_node',
         output='screen',
         parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
    )

    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                            description='Flag to enable joint_state_publisher_gui'),
        launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                            description='Absolute path to robot urdf file'),
        launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                            description='Absolute path to rviz config file'),
        launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                            description='Flag to enable use_sim_time'),
        launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', world_path], output='screen'),

        joint_state_publisher_node,
        robot_state_publisher_node,
        spawn_entity,
        robot_localization_node,
        rviz_node
    ])           

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