Nav2极简笔记01-安装与试用

安装

功能包：

ros-foxy-navigation2

ros-foxy-nav2-bringup

ros-foxy-turtlebot3*

推荐使用新立得，例如nav2的地图服务器：

图形化安装适合初学者入门！

选择需要的包下载安装即可。

源码编译：

github中navigation2，按照官网流程说明配置安装，文档更新较快，为避免误导，不再赘述。

ros@ros:~/RobCode/navigation2$ colcon build

Starting >>> nav2_common

Starting >>> nav_2d_msgs

Starting >>> nav2_gazebo_spawner

Finished <<< nav2_common [0.68s]

Starting >>> nav2_msgs

Starting >>> nav2_voxel_grid

Finished <<< nav2_gazebo_spawner [0.72s]

Finished <<< nav_2d_msgs [14.3s]

Starting >>> dwb_msgs

Finished <<< nav2_voxel_grid [33.6s]

Finished <<< dwb_msgs [29.2s]

Finished <<< nav2_msgs [53.0s]

Starting >>> nav2_util

[Processing: nav2_util]

Finished <<< nav2_util [34.1s]

Starting >>> nav_2d_utils

Starting >>> nav2_behavior_tree

Starting >>> nav2_lifecycle_manager

Starting >>> nav2_map_server

Starting >>> nav2_amcl

Starting >>> nav2_waypoint_follower

Finished <<< nav_2d_utils [19.4s]

Finished <<< nav2_waypoint_follower [30.0s]

Finished <<< nav2_lifecycle_manager [33.4s]

Starting >>> nav2_rviz_plugins

Finished <<< nav2_map_server [1min 1s]

Starting >>> nav2_costmap_2d

Finished <<< nav2_amcl [1min 7s]

Finished <<< nav2_rviz_plugins [58.3s]

[Processing: nav2_behavior_tree, nav2_costmap_2d]

[Processing: nav2_behavior_tree, nav2_costmap_2d]

Finished <<< nav2_behavior_tree [2min 58s]

Starting >>> nav2_bt_navigator

Finished <<< nav2_costmap_2d [2min 21s]

Starting >>> nav2_core

Starting >>> costmap_queue

Finished <<< nav2_core [4.58s]

Starting >>> dwb_core

Starting >>> nav2_controller

Starting >>> nav2_navfn_planner

Starting >>> nav2_planner

Starting >>> nav2_recoveries

Starting >>> nav2_regulated_pure_pursuit_controller

Finished <<< nav2_bt_navigator [51.2s]

Starting >>> smac_planner

Finished <<< costmap_queue [45.9s]

Finished <<< nav2_navfn_planner [57.8s]

Finished <<< dwb_core [57.9s]

Starting >>> dwb_critics

Starting >>> dwb_plugins

Finished <<< nav2_planner [1min 15s]

Finished <<< nav2_regulated_pure_pursuit_controller [1min 17s]

[Processing: dwb_critics, dwb_plugins, nav2_controller, nav2_recoveries, smac_planner]

Finished <<< dwb_plugins [54.7s]

Finished <<< nav2_controller [2min 4s]

Finished <<< dwb_critics [1min 8s]

Starting >>> nav2_dwb_controller

Finished <<< nav2_dwb_controller [2.32s]

Finished <<< nav2_recoveries [2min 14s]

Finished <<< smac_planner [2min 17s]

Starting >>> navigation2

Finished <<< navigation2 [1.05s]

Starting >>> nav2_bringup

Finished <<< nav2_bringup [1.19s]

Starting >>> nav2_system_tests

[Processing: nav2_system_tests]

[Processing: nav2_system_tests]

[Processing: nav2_system_tests]

Finished <<< nav2_system_tests [1min 58s]

Summary: 31 packages finished [9min 34s]

ros@ros:~/RobCode/navigation2$

示例

测试安装后，是否能够正常使用（ros2-foxy为例）。

功能包

source /opt/ros/foxy/setup.bash

export TURTLEBOT3_MODEL=waffle

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models

路径依据实际情况，稍有不同。

源码编译

source /home/ros/RobCode/navigation2/install/setup.bash

运行

ros2 launch nav2_bringup tb3_simulation_launch.py

设置初始位置（2D Pose Estimate）：

在rviz2中加入机器人模型（RobotModel），调整TF大小：

使用目标（Navigation2 Goal）设置终点，看效果如何？

定位思考：

如何提高定位精度呢？

tb3_simulation_launch.py（Intel）

# Copyright (c) 2018 Intel Corporation

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

"""This is all-in-one launch script intended for use by nav2 developers."""

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription

from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription

from launch.conditions import IfCondition

from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch.substitutions import LaunchConfiguration, PythonExpression

from launch_ros.actions import Node

def generate_launch_description():

# Get the launch directory

bringup_dir = get_package_share_directory('nav2_bringup')

launch_dir = os.path.join(bringup_dir, 'launch')

# Create the launch configuration variables

slam = LaunchConfiguration('slam')

namespace = LaunchConfiguration('namespace')

use_namespace = LaunchConfiguration('use_namespace')

map_yaml_file = LaunchConfiguration('map')

use_sim_time = LaunchConfiguration('use_sim_time')

params_file = LaunchConfiguration('params_file')

default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')

autostart = LaunchConfiguration('autostart')

# Launch configuration variables specific to simulation

rviz_config_file = LaunchConfiguration('rviz_config_file')

use_simulator = LaunchConfiguration('use_simulator')

use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')

use_rviz = LaunchConfiguration('use_rviz')

headless = LaunchConfiguration('headless')

world = LaunchConfiguration('world')

# Map fully qualified names to relative ones so the node's namespace can be prepended.

# In case of the transforms (tf), currently, there doesn't seem to be a better alternative

# https://github.com/ros/geometry2/issues/32

# https://github.com/ros/robot_state_publisher/pull/30

# TODO(orduno) Substitute with `PushNodeRemapping`

# https://github.com/ros2/launch_ros/issues/56

remappings = [('/tf', 'tf'),

('/tf_static', 'tf_static')]

# Declare the launch arguments

declare_namespace_cmd = DeclareLaunchArgument(

'namespace',

default_value='',

description='Top-level namespace')

declare_use_namespace_cmd = DeclareLaunchArgument(

'use_namespace',

default_value='false',

description='Whether to apply a namespace to the navigation stack')

declare_slam_cmd = DeclareLaunchArgument(

'slam',

default_value='False',

description='Whether run a SLAM')

declare_map_yaml_cmd = DeclareLaunchArgument(

'map',

default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),

description='Full path to map file to load')

declare_use_sim_time_cmd = DeclareLaunchArgument(

'use_sim_time',

default_value='true',

description='Use simulation (Gazebo) clock if true')

declare_params_file_cmd = DeclareLaunchArgument(

'params_file',

default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),

description='Full path to the ROS2 parameters file to use for all launched nodes')

declare_bt_xml_cmd = DeclareLaunchArgument(

'default_bt_xml_filename',

default_value=os.path.join(

get_package_share_directory('nav2_bt_navigator'),

'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),

description='Full path to the behavior tree xml file to use')

declare_autostart_cmd = DeclareLaunchArgument(

'autostart', default_value='true',

description='Automatically startup the nav2 stack')

declare_rviz_config_file_cmd = DeclareLaunchArgument(

'rviz_config_file',

default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),

description='Full path to the RVIZ config file to use')

declare_use_simulator_cmd = DeclareLaunchArgument(

'use_simulator',

default_value='True',

description='Whether to start the simulator')

declare_use_robot_state_pub_cmd = DeclareLaunchArgument(

'use_robot_state_pub',

default_value='True',

description='Whether to start the robot state publisher')

declare_use_rviz_cmd = DeclareLaunchArgument(

'use_rviz',

default_value='True',

description='Whether to start RVIZ')

declare_simulator_cmd = DeclareLaunchArgument(

'headless',

default_value='False',

description='Whether to execute gzclient)')

declare_world_cmd = DeclareLaunchArgument(

'world',

# TODO(orduno) Switch back once ROS argument passing has been fixed upstream

# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91

# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),

# 'worlds/turtlebot3_worlds/waffle.model'),

default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),

description='Full path to world model file to load')

# Specify the actions

start_gazebo_server_cmd = ExecuteProcess(

condition=IfCondition(use_simulator),

cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],

cwd=[launch_dir], output='screen')

start_gazebo_client_cmd = ExecuteProcess(

condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),

cmd=['gzclient'],

cwd=[launch_dir], output='screen')

urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')

start_robot_state_publisher_cmd = Node(

condition=IfCondition(use_robot_state_pub),

package='robot_state_publisher',

executable='robot_state_publisher',

name='robot_state_publisher',

namespace=namespace,

output='screen',

parameters=[{'use_sim_time': use_sim_time}],

remappings=remappings,

arguments=[urdf])

rviz_cmd = IncludeLaunchDescription(

PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),

condition=IfCondition(use_rviz),

launch_arguments={'namespace': '',

'use_namespace': 'False',

'rviz_config': rviz_config_file}.items())

bringup_cmd = IncludeLaunchDescription(

PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),

launch_arguments={'namespace': namespace,

'use_namespace': use_namespace,

'slam': slam,

'map': map_yaml_file,

'use_sim_time': use_sim_time,

'params_file': params_file,

'default_bt_xml_filename': default_bt_xml_filename,

'autostart': autostart}.items())

# Create the launch description and populate

ld = LaunchDescription()

# Declare the launch options

ld.add_action(declare_namespace_cmd)

ld.add_action(declare_use_namespace_cmd)

ld.add_action(declare_slam_cmd)

ld.add_action(declare_map_yaml_cmd)

ld.add_action(declare_use_sim_time_cmd)

ld.add_action(declare_params_file_cmd)

ld.add_action(declare_bt_xml_cmd)

ld.add_action(declare_autostart_cmd)

ld.add_action(declare_rviz_config_file_cmd)

ld.add_action(declare_use_simulator_cmd)

ld.add_action(declare_use_robot_state_pub_cmd)

ld.add_action(declare_use_rviz_cmd)

ld.add_action(declare_simulator_cmd)

ld.add_action(declare_world_cmd)

# Add any conditioned actions

ld.add_action(start_gazebo_server_cmd)

ld.add_action(start_gazebo_client_cmd)

# Add the actions to launch all of the navigation nodes

ld.add_action(start_robot_state_publisher_cmd)

ld.add_action(rviz_cmd)

ld.add_action(bringup_cmd)

return ld

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