ROS Turtlebot3多机器人编队导航仿真-Toy模板网

这篇具有很好参考价值的文章主要介绍了ROS Turtlebot3多机器人编队导航仿真。希望对大家有所帮助。如果存在错误或未考虑完全的地方，请大家不吝赐教，您也可以点击"举报违法"按钮提交疑问。

前言

前面已经实现了在gazebo仿真环境中机器人一字型编队、三角形编队、N字型编队等仿真，接下来考虑多机器人编队在编队行进过程中的避障问题，通过在RVIZ中加载多个机器人使他们能分别进行全局和局部路径规划，来进行避障。

一、Gzazebo中加载多台Turtlebot3机器人

在前面的文章中也提到过在gazebo仿真环境中加载多个机器人主要是修改启动gazebo仿真环境的launch文件。
原Turtlebot3 launch文件

<launch>
  <env name="GAZEBO_RESOURCE_PATH" value="$(find turtlebot3_gazebo)/models/turtlebot3_autorace/ground_picture" />

  <arg name="x_pos" default="0.245"/>
  <arg name="y_pos" default="-1.787"/>
  <arg name="z_pos" default="0"/>  

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_autorace.world" />
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.urdf.xacro" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_burger -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
   
</launch>

添加多台机器人的launch文件

<?xml version="1.0"?>
<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>
  <arg name="third_tb3"  default="tb3_2"/>

  <arg name="first_tb3_x_pos" default=" 0.0"/>
  <arg name="first_tb3_y_pos" default=" 0.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 0.0"/>

  <arg name="second_tb3_x_pos" default=" -1.0"/>
  <arg name="second_tb3_y_pos" default=" 0.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 0.0"/>

  <arg name="third_tb3_x_pos" default=" -2.0"/>
  <arg name="third_tb3_y_pos" default=" 0.0"/>
  <arg name="third_tb3_z_pos" default=" 0.0"/>
  <arg name="third_tb3_yaw"   default=" 0.0"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/cloister.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  

  <group ns = "$(arg first_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg first_tb3)" />
    </node>
    
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg second_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg second_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg third_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg third_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
  </group>

</launch>

对比发现，修改后的launch文件增加了三个tb3的ns属性，并为其设置了初始位姿，设置了ns属性后才使得每个仿真小车发布带有对应属性的节点名称，例如/tb3_0/odom、/tb3_0/base_link、/tb3_1/odom、/tb3_1/base_link。这样能防止TF树错乱而导致的运行出错。

二、RVIZ中加载多个Turtlebot3机器人

与Gazebo中加载多个Turtlebot3机器人相比，RVIZ需要修改的内容多了些。首先修改turtlebot3_navigation.launch
原文件：

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map.yaml"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
  </group>
</launch>

修改后：

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>
  <arg name="third_tb3"  default="tb3_2"/>

  <!-- Map server -->
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/cloister_gmapping.yaml"/>
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

<group ns = "$(arg first_tb3)">
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
   <arg name="model" value="$(arg model)" />
   <arg name="multi_robot_name" value="$(arg first_tb3)" />
  </include>
  <arg name="first_tb3_x_pos" default="0.0"/>
  <arg name="first_tb3_y_pos" default="0.0"/>
  <arg name="first_tb3_z_pos" default="0.0"/>
  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg first_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg first_tb3)/base_footprint"/> 
    <arg name="initial_pose_x" value="$(arg first_tb3_x_pos)"/>
    <arg name="initial_pose_y" value="$(arg first_tb3_y_pos)"/>
    <arg name="initial_pose_a" value="$(arg first_tb3_z_pos)"/>
  </include>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg first_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg first_tb3)/base_footprint"/>
    <arg name="odom_topic" value="/$(arg first_tb3)/odom" />
    <arg name="laser_topic" value="/$(arg first_tb3)/scan" />
    <arg name="cmd_vel_topic" value="/$(arg first_tb3)/cmd_vel" />
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</group>

<group ns = "$(arg second_tb3)">
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
   <arg name="model" value="$(arg model)" />
   <arg name="multi_robot_name" value="$(arg second_tb3)" />
  </include>
  <arg name="second_tb3_x_pos" default="-1.0"/>
  <arg name="second_tb3_y_pos" default="0.0"/>
  <arg name="second_tb3_z_pos" default="0.0"/>
  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg second_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg second_tb3)/base_footprint"/> 
    <arg name="initial_pose_x" value="$(arg second_tb3_x_pos)"/>
    <arg name="initial_pose_y" value="$(arg second_tb3_y_pos)"/>
    <arg name="initial_pose_a" value="$(arg second_tb3_z_pos)"/>
  </include>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg second_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg second_tb3)/base_footprint"/>
    <arg name="odom_topic" value="/$(arg second_tb3)/odom" />
    <arg name="laser_topic" value="/$(arg second_tb3)/scan" />
    <arg name="cmd_vel_topic" value="/$(arg second_tb3)/cmd_vel" />
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</group>

<group ns = "$(arg third_tb3)">
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
   <arg name="model" value="$(arg model)" />
   <arg name="multi_robot_name" value="$(arg third_tb3)" />
  </include>
  <arg name="third_tb3_x_pos" default="-2.0"/>
  <arg name="third_tb3_y_pos" default="0.0"/>
  <arg name="third_tb3_z_pos" default="0.0"/>
  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/multi_amcl.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg third_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg third_tb3)/base_footprint"/> 
    <arg name="initial_pose_x" value="$(arg third_tb3_x_pos)"/>
    <arg name="initial_pose_y" value="$(arg third_tb3_y_pos)"/>
    <arg name="initial_pose_a" value="$(arg third_tb3_z_pos)"/>
  </include>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/multi_move_base.launch">
    <arg name="global_frame_id" value="map"/>
    <arg name="odom_frame_id"   value="$(arg third_tb3)/odom"/>
    <arg name="base_frame_id"   value="$(arg third_tb3)/base_footprint"/>
    <arg name="odom_topic" value="/$(arg third_tb3)/odom" />
    <arg name="laser_topic" value="/$(arg third_tb3)/scan" />
    <arg name="cmd_vel_topic" value="/$(arg third_tb3)/cmd_vel" />
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
  </include>
</group>

  <!-- rviz -->
  <group if="$(arg open_rviz)"> 
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navWjx.rviz"/>
  </group>
</launch>

turtlebot3_navigation.launch中引用的move_base.launch和amcl.launch文件也需要修改
move_base.launch
原文件：

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <arg name="move_forward_only" default="false"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>
</launch>

修改后（multi_move_base.launch）：

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="odom_frame_id"   default="odom"/>
  <arg name="base_frame_id"   default="base_footprint"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />
  <arg name="move_forward_only" default="false"/>
  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="global_planner/GlobalPlanner"/>
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />

    <!-- reset frame_id parameters using user input data -->
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="global_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>
    <param name="local_costmap/obstacle_layer/scan/topic" value="$(arg laser_topic)"/>

    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="scan" to="$(arg laser_topic)"/>
    <param name="DWAPlanner/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
  </node>
</launch>

amcl.launch
原文件：

<launch>
  <!-- Arguments -->
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl">

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="odom"/>
    <param name="base_frame_id"             value="base_footprint"/>

  </node>
</launch>

修改后（multi_amcl.launch读入数据）：

<launch>
  <!-- Arguments -->
  <arg name="use_map_topic"   default="true"/>
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
  <arg name="odom_frame_id"   default="odom"/>
  <arg name="base_frame_id"   default="base_footprint"/>
  <arg name="global_frame_id" default="map"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl">

    <param name="use_map_topic"             value="$(arg use_map_topic)"/>

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>

    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="laser_model_type"          value="likelihood_field"/>

    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha1"               value="0.1"/>
    <param name="odom_alpha2"               value="0.1"/>
    <param name="odom_alpha3"               value="0.1"/>
    <param name="odom_alpha4"               value="0.1"/>
    <param name="odom_frame_id"             value="$(arg odom_frame_id)"/> 
    <param name="base_frame_id"             value="$(arg base_frame_id)"/> 
    <param name="global_frame_id"           value="$(arg global_frame_id)"/>

  </node>
</launch>

三.多机器人编队导航

多机器人编队的仿真在前面文章中叙述过：多机器人三角形编队的实现，编队的程序不需要修改，可以直接运行。
启动gazebo仿真环境(launch 自己的文件名)：

roslaunch turtlebot3_gazebo multi3_turtlebot3.launch

ros2多机器人编队避障,多机器人编队,机器人,多机器人编队,ros,导航
启动导航节点（RVIZ）

roslaunch  turtlebot3_navigation turtlebot3_navigation

ros2多机器人编队避障,多机器人编队,机器人,多机器人编队,ros,导航启动编队程序：

roslaunch turtlebot3_teams_wang  turtlebot3_teams_follow_wang.launch

ros2多机器人编队避障,多机器人编队,机器人,多机器人编队,ros,导航

总结

简单总结了Turtlebot3多机器人编队仿真，在实现的过程中需要对RVIZ仿真环境进行配置，这个花费了我很长时间，后面我会专门的写一下，主要是添加多个2D nav Goal/2D pose estimate，以及导航、laser、全局路径/局部路径话题的订阅。文章来源地址https://www.toymoban.com/news/detail-786668.html

到了这里，关于ROS Turtlebot3多机器人编队导航仿真的文章就介绍完了。如果您还想了解更多内容，请在右上角搜索TOY模板网以前的文章或继续浏览下面的相关文章，希望大家以后多多支持TOY模板网！