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Repository Summary
| Description | 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车 |
| Checkout URI | https://github.com/lei01cao/lidar_slam.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-08-13 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| mrobot_navigation | 0.0.0 |
| mrobot_teleop | 0.0.0 |
| amcl | 1.14.4 |
| base_local_planner | 1.14.4 |
| carrot_planner | 1.14.4 |
| clear_costmap_recovery | 1.14.4 |
| costmap_2d | 1.14.4 |
| dwa_local_planner | 1.14.4 |
| fake_localization | 1.14.4 |
| global_planner | 1.14.4 |
| map_server | 1.14.4 |
| move_base | 1.14.4 |
| move_slow_and_clear | 1.14.4 |
| nav_core | 1.14.4 |
| navfn | 1.14.4 |
| navigation | 1.14.4 |
| robot_pose_ekf | 1.14.4 |
| rotate_recovery | 1.14.4 |
| voxel_grid | 1.14.4 |
| teb_local_planner_tutorials | 0.2.4 |
| mrobot_bringup | 0.0.0 |
| mrobot_description | 0.0.0 |
| my_serial_node | 0.0.0 |
README
LIDAR_SLAM
实物展示：
-
Stm32F103C8T6核心板和底板
-
A4950双路电机驱动模块
-
IMU(MPU-6050)
-
树莓派3B+
-
两轮步进电机组(减速比30 编码器精度780)
-
思岚A1激光雷达
-
小车整体
运行步骤：
一.Gmapping构建地图
Step1.PC端（master)：roscore
Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)
Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch
Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch
启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。
rosrun map_server map_saver -f caolei_room_map <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">
二.Move_base导航路径规划
Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch
Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch
rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。
使用teb_local_planner,导航效果： <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">
参考资料：
1.ROS WIKI
2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping
3.ros导航包源码：https://github.com/ros-planning/navigation
4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner
CONTRIBUTING
No CONTRIBUTING.md found.
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