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Turbot与python编程-实现带避障的直行导航

Turtlebot2/二代机器人 少儿编程 1558浏览 0评论
Turbot与Python教程

Turbot与Python教程-实现带避障的直行导航

说明:

  • 介绍如何实现通过python控制turbot实现带避障的直行导航

代码:

  • 参考代码:github
  • 实现代码:
#Code is inspired by http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals (written in C++).
#TurtleBot must have minimal.launch & amcl_demo.launch running prior to starting this script.
#goForwardWithAvoidObstacle.py

import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *

class GoForwardAvoid():
    def __init__(self):
        rospy.init_node('nav_test', anonymous=False)

    #what to do if shut down (e.g. ctrl + C or failure)
    rospy.on_shutdown(self.shutdown)

    
    #tell the action client that we want to spin a thread by default
    self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
    rospy.loginfo("wait for the action server to come up")
    #allow up to 5 seconds for the action server to come up
    self.move_base.wait_for_server(rospy.Duration(5))

    #we'll send a goal to the robot to move 3 meters forward
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = 'base_link'
    goal.target_pose.header.stamp = rospy.Time.now()
    goal.target_pose.pose.position.x = 3.0 #3 meters
    goal.target_pose.pose.orientation.w = 1.0 #go forward

    #start moving
        self.move_base.send_goal(goal)

    #allow TurtleBot up to 60 seconds to complete task
    success = self.move_base.wait_for_result(rospy.Duration(60)) 


    if not success:
                self.move_base.cancel_goal()
                rospy.loginfo("The base failed to move forward 3 meters for some reason")
        else:
        # We made it!
        state = self.move_base.get_state()
        if state == GoalStatus.SUCCEEDED:
            rospy.loginfo("Hooray, the base moved 3 meters forward")



    def shutdown(self):
        rospy.loginfo("Stop")


if __name__ == '__main__':
    try:
        GoForwardAvoid()
    except rospy.ROSInterruptException:
        rospy.loginfo("Exception thrown")

演示:

  • 主机,新终端,启动底盘
$ roslaunch turbot_bringup minimal.launch
  • 主机,新终端,启动AMCL,kinect版
$ roslaunch turbot_slam amcl_demo.launch map_file:=/path_to_map/xxx.yaml
  • 或者使用激光AMCL
$ roslaunch turbot_slam laser_amcl_demo.launch map_file:=/path_to_map/xxx.yaml
  • path_to_map使用实际地图路径
  • xxx为实际的地图名称
  • 从机,新终端,启动脚本
$ rosrun turbot_code goForwardWithAvoidObstacle.py
  • 机器人向前直行3米,并能动态避开障碍。

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