ROS機器人SLAM學習：Gazebo定位與導航仿真
（以下功能包的網盤鏈接：鏈接：https://pan.baidu.com/s/15NVx6vmdz20o2YLkecobkg
提取碼：geuo）
一. 在 gazebo 中構建一個用於建圖和導航的虛擬環境，可以使用 Building Editor工具創建，也可以使用其他功能包中已有的虛擬環境；將前面作業完成的帶傳感器的移動機器人（小車）模型放置到虛擬環境中，使用 gmapping 和 hector_slam 功能包實現 SLAM仿真，並將簡歷完成的地圖保存到功能包的 maps 文件夾中，隨作業一同提交。
1.用 gmapping 功能包實現 SLAM 仿真
(1)下載gmapping
sudo apt-get install ros-kinetic-gmapping- 配置gmapping節點
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-94a97GDS-1586222344794)(media/a7bb8ef6dcf3bb43c74ca0e6aea4b52e.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/2020040709224153.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
- 啓動gmapping演示（激光雷達）
①運行代碼
source devel/setup.bash
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-Y4unnwMA-1586222344795)(media/21820bda8d6661fd7b2491e637861a07.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092800508.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-0skNfLJC-1586222344796)(media/0060587b78773d2d7fccd715de0420d8.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092817859.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
②打開RVIZ查看
source devel/setup.bash
roslaunch mbot_anvigation gmapping_demo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-UFV2wTTH-1586222344796)(media/d8bb082c22d7903ea7aba8a0567a2162.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092845884.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-48W3fwAK-1586222344796)(media/cfd0a947e8d85f5817cf04e48be50524.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092851397.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
③打開鍵盤控制節點
source devel/setup.bash
roslaunch mbot_teleop mbot_teleop.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-ubOFifJE-1586222344797)(media/e2afaa1e0bf38caf303e802dc5dadbb1.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092919788.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-IUdBrYP9-1586222344797)(media/a479cbbcd7907ba5f754b0d5d9b2a28a.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092929974.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
控制小車的移動，觀察到的畫面如下
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-Ee1mtawU-1586222344797)(media/ceb1e4fbebca99587cf16c6d13852e7c.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092942500.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-IgVHbf52-1586222344798)(media/808fbf69a2a1a76228d23143d9e4322e.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407092949756.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
④保存地圖
rosrun map_server map_saver -f cloister_gmapping3![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-f75I3iFb-1586222344798)(media/8951f9c73fc57bc66e748b0bb8292611.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093008799.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-d526rn6l-1586222344798)(media/e0e42d335d5c8a724e3d684fa03c9821.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093013983.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
保存的地圖如下
2.使用hector_slam功能包實現 SLAM 仿真
(1)下載hector_slam
sudo apt-get install ros-kinetic-hector-slam![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-sjxMXj6n-1586222344802)(media/df000e237b583b526e20dd0402d98261.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/2020040709325152.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
(2)配置hector_mapping節點
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-2wGZgYvz-1586222344802)(media/60f70e2bbf1ab87d6f93648420c1112e.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093329261.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
（3） 啓動hector_slam演示
①運行代碼
source devel/setup.bash
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-8UY5YQjq-1586222344802)(media/6dbf197535a01a9149c95662d9531934.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093358372.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-05s9XPlB-1586222344802)(media/9738cea516150837f6e4c3a2ad0d69c2.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093402373.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
②運行代碼
source devel/setup.bash
roslaunch mbot_navigation hector_demo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-p6UPvrm9-1586222344802)(media/4432f7b18cc031c4f2e0a1b25b414331.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093416411.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-iJNAi7Zw-1586222344803)(media/75cc9903e5038685d64bacc266316d23.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093422121.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
③打開鍵盤控制節點
source devel/setup.bash
roslaunch mbot_teleop mbot_teleop.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-BtJCwlkS-1586222344803)(media/e2afaa1e0bf38caf303e802dc5dadbb1.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093433881.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-Ghdt03pd-1586222344803)(media/a479cbbcd7907ba5f754b0d5d9b2a28a.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093439243.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
由於機器人的速度加快，發生了打滑現象
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-CrpA2z33-1586222344803)(media/09da5774c69d022f8078e293c8c4d4fd.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093447574.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
④保存地圖
rosrun map_server map_saver -f cloister_gmapping4![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-H1E3JmEO-1586222344804)(media/fa40f25df75665877bedb7ad54718bcc.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093505442.png)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-7FNNudFY-1586222344804)(media/3ae88469b8223a0fd26533206947c4f7.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093510419.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
二. 在第一題建立完成的地圖上，實現基於 move_base 和 amcl功能包的機器人自主導航仿真。
1. 導航仿真
source devel/setup.bash
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-gkZXaKg9-1586222344804)(media/56a35c746de30f598d3fb3cb5f5c0541.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093626871.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
source devel/setup.bash
roslaunch mbot_navigation nav_cloister_demo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-RWRT2OtO-1586222344804)(media/817da31f172ae2064c47ca4c33a4c35d.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093646490.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
點擊2D Naw Goal,使小車自己運動
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-jLGai9Qt-1586222344804)(media/6f18ae68a5a7ac94354f8b9c1ad9ccd8.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093653570.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
2. 導航SLAM仿真
運行代碼：
source devel/setup.bash
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-5vhw1uM6-1586222344806)(media/de58e47ad7b0324d24cd72df697ecc1f.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093740771.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
運行代碼：
source devel/setup.bash
roslaunch mbot_navigation exploring_slam_demo.launch![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-5M9jIC5Q-1586222344806)(media/7dc8d682db51ac90bd5db4e2d1452589.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093757738.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
點擊2D Naw Goal,使小車自己運動
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-rtiPTFwD-1586222344806)(media/4fe2b6f29a031956695c603903f3c221.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/2020040709380625.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
3. 自主探索SLAM仿真
新建終端運行：
source devel/setup.bash
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch新建終端運行：
source devel/setup.bash
roslaunch mbot_navigation exploring_slam_demo.launch新建終端運行：
source devel/setup.bash
rosrun mbot_navigation exploring_slam.py小車自己在緩緩運動：
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-3KJK1rjV-1586222344806)(media/c121f62494b545c9bf1fcaa830da2ec9.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093918272.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-GG3SG2Wr-1586222344806)(media/4476ec1f1250cee46f0bf150a901681b.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093923276.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
![[外鏈圖片轉存失敗,源站可能有防盜鏈機制,建議將圖片保存下來直接上傳(img-UM0U1oLQ-1586222344807)(media/d3884f31a3dc46c5fec3f2d3c14f1e34.png)]](https://pic1.xuehuaimg.com/proxy/csdn/https://img-blog.csdnimg.cn/20200407093928796.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQyNTg1MTA4,size_16,color_FFFFFF,t_70)
三、分析
在用gmapping中對比，激光雷達和Kinetic，激光雷達的仿真時無死角的360°可以觀小車的動向，而Kinetic只能觀察到60°左右的範圍，而且用激光雷達的仿真比Kinetic的仿真數據更加精確。
用hector_slam仿真時，當小車速度加快是，會出現打滑現象，因此，解決辦法：降低小車的移動速度。
基於move_base 和 amcl功能包的機器人自主導航仿真時，成功的對小車自己走且遇到障礙物，會繞行，缺點：移動速度太緩慢。
參考資料：
1） 課件和網上教學視頻
2） https://www.jianshu.com/p/fb91063a9fd7，“ROS：基於 gazebo 仿真運行 SLAM
而且用激光雷達的仿真比Kinetic的仿真數據更加精確。