61 lines
2.0 KiB
Markdown
61 lines
2.0 KiB
Markdown
* 基于 RRT * 的路径规划与导航
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实现功能：替换 Nav2 规划器为RRT-Star自定义插件，实现渐近最优路径规划，支持从 RViz2 设置目标点完成自主导航。RRT* 被用于导航与路径规划，它具有渐近最优性， 即随着采样点数量增加，解会收敛到最优路径，同时能高效探索高维空间。
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## 1. 环境要求
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- Ubuntu 22.04
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- ROS2 Humble
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- Gazebo Sim Harmonic
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---
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### 编译
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```bash
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cd /workspace
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colcon build --symlink-install
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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```
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### 注意事项
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之后每打开一个新终端，都建议先执行：
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```bash
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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export TURTLEBOT3_MODEL=burger
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export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
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```
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为了方便，也可以写入 `~/.bashrc`：
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```bash
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echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
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echo 'source /workspace/install/setup.bash' >> ~/.bashrc
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echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
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echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml' >> ~/.bashrc
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source ~/.bashrc
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```
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1. 每个终端都要按照3.2.1前置准备操作
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2. 启动仿真， Nav2导航栈， AMCL节点，rviz
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```bash
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./gzsim_run.sh
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ros2 launch nav2_bringup navigation_launch.py \
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use_sim_time:=True \
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params_file:=$HOME/ros_ws/src/vlm-semantic-nav2/TurtleBot-RRT-Star/nav2_params.yaml \
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map:=$NAV2_MAP_PATH
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ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
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use_sim_time:=true \
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map:=$NAV2_MAP_PATH
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ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
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```
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点击 RViz2 中Nav2 Goal，在地图上选择目标位置，调整箭头设置机器人到达后的朝向，确认后机器人将通过 RRT * 算法生成最优路径并自主导航RViz2 中将实时显示 RRT * 规划的全局路径。
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