URDF로 만든 로봇을 GAZEBO상에서 컨트롤 하기 SLAM (2/2)

이글은 pinkLab의 pinkWink 강사님의 강의자료를 따라 작성되었습니다.

https://pinkwink.kr/

PinkWink

 

 

이전 시간에 가제보에 로봇을 띄우고 직접 조종을 했습니다.

 

이번에는 라이다를 통해 MAPPING을 하고 경로 생성까지 해봅시다.

 

어.. 혹시나 모듈이 없는 사람은

https://kimbrain.tistory.com/entry/3-%EC%9A%B0%EB%B6%84%ED%88%AC-2204%EC%97%90-ROS2-Humble-%EC%84%A4%EC%B9%98%ED%95%98%EA%B3%A0-rviz%EC%99%80-gazebo%EA%B9%8C%EC%A7%80-%EC%84%A4%EC%B9%98%ED%95%98%EA%B8%B0

(실무리눅스) 12. 우분투 22.04에 ROS2 Humble 설치하고 rviz와 gazebo까지 설치하기

 

이 글의 마지막 부분을 참고하세요.

 

우선 패키지를 하나 새로 만들어야 합니다.

ros2 pkg create --build-type ament_cmake Addbot_navigation2

 

그러면 5개의 폴더를 만듭니다.

Navigation2라는 모듈을 사용할 것입니다.

https://github.com/ros-planning/navigation2

GitHub - ros-planning/navigation2: ROS2 Navigation Framework and System

 

rivz -> rviz입니다.

여튼 

config 폴더에는 

mapper_params.yaml

이라는 파일이 들어갑니다.

slam_toolbox:
  ros__parameters:

    # Plugin params
    solver_plugin: solver_plugins::CeresSolver
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_loss_function: None

    # ROS Parameters
    odom_frame: odom
    map_frame: map
    base_frame: base_footprint
    scan_topic: /scan
    mode: mapping #localization

    debug_logging: false
    throttle_scans: 1
    transform_publish_period: 0.02 #if 0 never publishes odometry
    map_update_interval: 5.0
    resolution: 0.05
    max_laser_range: 5.0 #for rastering images
    minimum_time_interval: 0.5
    transform_timeout: 0.4
    tf_buffer_duration: 30.
    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
    enable_interactive_mode: true

    # General Parameters
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.5
    minimum_travel_heading: 0.5
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 8.0
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 1.5
    loop_search_maximum_distance: 3.0
    do_loop_closing: true
    loop_match_minimum_chain_size: 10
    loop_match_maximum_variance_coarse: 3.0
    loop_match_minimum_response_coarse: 0.35
    loop_match_minimum_response_fine: 0.45

    # Correlation Parameters - Correlation Parameters
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1

    # Correlation Parameters - Loop Closure Parameters
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: 0.05
    loop_search_space_smear_deviation: 0.03

    # Scan Matcher Parameters
    distance_variance_penalty: 0.5
    angle_variance_penalty: 1.0

    fine_search_angle_offset: 0.00349
    coarse_search_angle_offset: 0.349
    coarse_angle_resolution: 0.0349
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    use_response_expansion: true

 

다음의 코드입니다. 어디서 때오는 코드입니다.

아마 도큐먼트에서 가져왔을 것으로 추정됩니다.

params에 

nav2_params.yaml

파일의 코드입니다.

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan
    set_initial_pose: true
    initial_pose: [0, 0, 0]


bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: base_controller/odom
    bt_loop_duration: 10
    default_server_timeout: 20
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_compute_path_through_poses_action_bt_node
    - nav2_smooth_path_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_drive_on_heading_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_globally_updated_goal_condition_bt_node
    - nav2_is_path_valid_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_truncate_path_local_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_path_expiring_timer_condition
    - nav2_distance_traveled_condition_bt_node
    - nav2_single_trigger_bt_node
    - nav2_goal_updated_controller_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_through_poses_action_bt_node
    - nav2_navigate_to_pose_action_bt_node
    - nav2_remove_passed_goals_action_bt_node
    - nav2_planner_selector_bt_node
    - nav2_controller_selector_bt_node
    - nav2_goal_checker_selector_bt_node
    - nav2_controller_cancel_bt_node
    - nav2_path_longer_on_approach_bt_node
    - nav2_wait_cancel_bt_node
    - nav2_spin_cancel_bt_node
    - nav2_back_up_cancel_bt_node
    - nav2_drive_on_heading_cancel_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.1
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.3
      max_vel_y: 0.0
      max_vel_theta: 1.5
      min_speed_xy: 0.0
      max_speed_xy: 0.5
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/7
      acc_lim_x: 0.8
      acc_lim_y: 0.0
      acc_lim_theta: 2.0
      decel_lim_x: -0.5
      decel_lim_y: 0.0
      decel_lim_theta: -2.0
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.1
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 10.0
      publish_frequency: 5.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 5
      height: 5
      resolution: 0.05
      # robot_radius: 0.325
      footprint: '[[0.05, 0.12], [0.05, -0.12], [-0.14, -0.12], [-0.14, 0.12]]'
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.25
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 5.0
          raytrace_min_range: 0.0
          obstacle_max_range: 4.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: True
      robot_radius: 0.25
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: True
    # Overridden in launch by the "map" launch configuration or provided default value.
    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
    yaml_filename: ""

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_smac_planner/SmacPlanner2D"
      tolerance: 0.5                    # tolerance for planning if unable to reach exact pose, in meters, for 2D node
      downsample_costmap: false           # whether or not to downsample the map
      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
      allow_unknown: true                # allow traveling in unknown space
      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_on_approach_iterations: 1000    # maximum number of iterations to attempt to reach goal once in tolerance, 2D only
      max_planning_time: 3.5              # max time in s for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning.
      cost_travel_multiplier: 2.0         # For 2D: Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10

smoother_server:
  ros__parameters:
    use_sim_time: True
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    global_frame: odom
    robot_base_frame: base_footprint
    transform_tolerance: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    use_sim_time: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "CLOSED_LOOP"
    max_velocity: [1.5, 0.0, 1.8]
    min_velocity: [-1.0, 0.0, -1.8]
    max_accel: [1.8, 0.0, 2.0]
    max_decel: [-1.8, 0.0, -2.0]
    odom_topic: "base_controller/odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

 

길다.. 여튼 이정도 하면 됩니다.

 

CmakeLists에 다음을 추가합니다.

install(
  DIRECTORY
    launch
    rviz
    config
    maps
    params
  DESTINATION share/${PROJECT_NAME}
)

 

package.xml에는 다음을 추가합니다.

  <depend>slam_toolbox</depend>
  <depend>navigation2</depend>
  <depend>nav2_bringup</depend>

 

 

그리고 launch 폴더에 다음의 파이썬 코드를 작성합니다.

(어디서 때오는 코드들 입니다.)

bringup_launch.py

# 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.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
                            IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from nav2_common.launch import RewrittenYaml


def generate_launch_description():
    # Get the launch directory
    launch_dir = os.path.join(bringup_dir, 'launch')

    # Create the launch configuration variables
    map_yaml_file = LaunchConfiguration('map')
    use_sim_time = LaunchConfiguration('use_sim_time')
    params_file = LaunchConfiguration('params_file')
    autostart = LaunchConfiguration('autostart')
    use_composition = LaunchConfiguration('use_composition')
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')

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

    param_substitutions = {
        'use_sim_time': use_sim_time,
        'yaml_filename': map_yaml_file}

    configured_params = RewrittenYaml(
        source_file=params_file,
        param_rewrites=param_substitutions,
        convert_types=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_map_yaml_cmd = DeclareLaunchArgument(
        'map',
        default_value=os.path.join(bringup_dir, "maps", "map_office_building.yaml"),
        description='Full path to map yaml file to load')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='False',
        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_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='True',
        description='Automatically startup the nav2 stack')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='True',
        description='Whether to use composed bringup')

    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn', default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.')

    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')

    # Specify the actions
    bringup_cmd_group = GroupAction([
        Node(
            condition=IfCondition(use_composition),
            name='nav2_container',
            package='rclcpp_components',
            executable='component_container_isolated',
            parameters=[configured_params, {'autostart': autostart}],
            arguments=['--ros-args', '--log-level', log_level],
            remappings=remappings,
            output='screen'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'localization_launch.py')),
            launch_arguments={  'map': map_yaml_file,
                                'use_sim_time': use_sim_time,
                                'autostart': autostart,
                                'params_file': params_file,
                                'use_composition': use_composition,
                                'use_respawn': use_respawn,
                                'container_name': 'nav2_container'}.items()),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
            launch_arguments={  'use_sim_time': use_sim_time,
                                'autostart': autostart,
                                'params_file': params_file,
                                'use_composition': use_composition,
                                'use_respawn': use_respawn,
                                'container_name': 'nav2_container'}.items()),
    ])

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    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_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)

    ld.add_action(bringup_cmd_group)
    return ld

localization_launch.py

# 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.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')

    namespace = LaunchConfiguration('namespace')
    map_yaml_file = LaunchConfiguration('map')
    use_sim_time = LaunchConfiguration('use_sim_time')
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfiguration('use_composition')
    container_name = LaunchConfiguration('container_name')
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')

    lifecycle_nodes = ['map_server', 'amcl']

    # 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')]

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {
        'use_sim_time': use_sim_time,
        'yaml_filename': map_yaml_file}

    configured_params = RewrittenYaml(
        source_file=params_file,
        root_key=namespace,
        param_rewrites=param_substitutions,
        convert_types=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_map_yaml_cmd = DeclareLaunchArgument(
        'map',
        description='Full path to map yaml file to load')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        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_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='False',
        description='Use composed bringup if True')

    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name', default_value='nav2_container',
        description='the name of conatiner that nodes will load in if use composition')

    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn', default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.')

    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')

    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            Node(
                package='nav2_map_server',
                executable='map_server',
                name='map_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_amcl',
                executable='amcl',
                name='amcl',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_localization',
                output='screen',
                arguments=['--ros-args', '--log-level', log_level],
                parameters=[{'use_sim_time': use_sim_time},
                            {'autostart': autostart},
                            {'node_names': lifecycle_nodes}])
        ]
    )

    load_composable_nodes = LoadComposableNodes(
        condition=IfCondition(use_composition),
        target_container=container_name,
        composable_node_descriptions=[
            ComposableNode(
                package='nav2_map_server',
                plugin='nav2_map_server::MapServer',
                name='map_server',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_amcl',
                plugin='nav2_amcl::AmclNode',
                name='amcl',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_lifecycle_manager',
                plugin='nav2_lifecycle_manager::LifecycleManager',
                name='lifecycle_manager_localization',
                parameters=[{'use_sim_time': use_sim_time,
                             'autostart': autostart,
                             'node_names': lifecycle_nodes}]),
        ],
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    ld.add_action(declare_namespace_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_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_container_name_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)

    # Add the actions to launch all of the localiztion nodes
    ld.add_action(load_nodes)
    ld.add_action(load_composable_nodes)

    return ld

map_building.launch.py

import os

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time')
    slam_params_file = LaunchConfiguration('slam_params_file')

    declare_use_sim_time_argument = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
    )

    declare_slam_params_file_cmd = DeclareLaunchArgument(
        'slam_params_file',
        default_value=os.path.join(get_package_share_directory("Addbot_navigation2"),
                                    'config', 'mapper_params.yaml'),
    )

    slam_toolbox_node = Node(
        parameters=[
            slam_params_file,
            {'use_sim_time': use_sim_time}
        ],
        package='slam_toolbox',
        executable='sync_slam_toolbox_node',
        name='slam_toolbox',
        output='screen'
    )

    ld = LaunchDescription()

    ld.add_action(declare_use_sim_time_argument)
    ld.add_action(declare_slam_params_file_cmd)
    ld.add_action(slam_toolbox_node)

    return ld

navigation_launch.py

# 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.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')

    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time')
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfiguration('use_composition')
    container_name = LaunchConfiguration('container_name')
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')

    lifecycle_nodes = ['controller_server',
                       'smoother_server',
                       'planner_server',
                       'behavior_server',
                       'bt_navigator',
                       'waypoint_follower',
                       'velocity_smoother']

    # 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'),
                  ('/cmd_vel', '/base_controller/cmd_vel_unstamped')]

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {
        'use_sim_time': use_sim_time,
        'autostart': autostart}

    configured_params = RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites=param_substitutions,
            convert_types=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        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_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='False',
        description='Use composed bringup if True')

    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name', default_value='nav2_container',
        description='the name of conatiner that nodes will load in if use composition')

    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn', default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.')

    declare_log_level_cmd = DeclareLaunchArgument(
        'log_level', default_value='info',
        description='log level')

    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            Node(
                package='nav2_controller',
                executable='controller_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
            Node(
                package='nav2_smoother',
                executable='smoother_server',
                name='smoother_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_planner',
                executable='planner_server',
                name='planner_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_behaviors',
                executable='behavior_server',
                name='behavior_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_bt_navigator',
                executable='bt_navigator',
                name='bt_navigator',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_waypoint_follower',
                executable='waypoint_follower',
                name='waypoint_follower',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings),
            Node(
                package='nav2_velocity_smoother',
                executable='velocity_smoother',
                name='velocity_smoother',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings +
                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_navigation',
                output='screen',
                arguments=['--ros-args', '--log-level', log_level],
                parameters=[{'use_sim_time': use_sim_time},
                            {'autostart': autostart},
                            {'node_names': lifecycle_nodes}]),
        ]
    )

    load_composable_nodes = LoadComposableNodes(
        condition=IfCondition(use_composition),
        target_container=container_name,
        composable_node_descriptions=[
            ComposableNode(
                package='nav2_controller',
                plugin='nav2_controller::ControllerServer',
                name='controller_server',
                parameters=[configured_params],
                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
            ComposableNode(
                package='nav2_smoother',
                plugin='nav2_smoother::SmootherServer',
                name='smoother_server',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_planner',
                plugin='nav2_planner::PlannerServer',
                name='planner_server',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_behaviors',
                plugin='behavior_server::BehaviorServer',
                name='behavior_server',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_bt_navigator',
                plugin='nav2_bt_navigator::BtNavigator',
                name='bt_navigator',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_waypoint_follower',
                plugin='nav2_waypoint_follower::WaypointFollower',
                name='waypoint_follower',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_velocity_smoother',
                plugin='nav2_velocity_smoother::VelocitySmoother',
                name='velocity_smoother',
                parameters=[configured_params],
                remappings=remappings +
                           [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
            ComposableNode(
                package='nav2_lifecycle_manager',
                plugin='nav2_lifecycle_manager::LifecycleManager',
                name='lifecycle_manager_navigation',
                parameters=[{'use_sim_time': use_sim_time,
                             'autostart': autostart,
                             'node_names': lifecycle_nodes}]),
        ],
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_container_name_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)
    # Add the actions to launch all of the navigation nodes
    ld.add_action(load_nodes)
    ld.add_action(load_composable_nodes)

    return ld

rviz.launch.py

# 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.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
from launch.conditions import IfCondition, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from nav2_common.launch import ReplaceString


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')

    # Create the launch configuration variables
    namespace = LaunchConfiguration('namespace')
    use_namespace = LaunchConfiguration('use_namespace')
    rviz_config_file = LaunchConfiguration('rviz_config')

    # Declare the launch arguments
    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='navigation',
        description=('Top-level namespace. The value will be used to replace the '
                     '<robot_namespace> keyword on the rviz config file.'))

    declare_use_namespace_cmd = DeclareLaunchArgument(
        'use_namespace',
        default_value='false',
        description='Whether to apply a namespace to the navigation stack')

    declare_rviz_config_file_cmd = DeclareLaunchArgument(
        'rviz_config',
        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
        description='Full path to the RVIZ config file to use')

    # Launch rviz
    start_rviz_cmd = Node(
        condition=UnlessCondition(use_namespace),
        package='rviz2',
        executable='rviz2',
        arguments=['-d', rviz_config_file],
        output='screen')

    namespaced_rviz_config_file = ReplaceString(
            source_file=rviz_config_file,
            replacements={'<robot_namespace>': ('/', namespace)})

    start_namespaced_rviz_cmd = Node(
        condition=IfCondition(use_namespace),
        package='rviz2',
        executable='rviz2',
        namespace=namespace,
        arguments=['-d', namespaced_rviz_config_file],
        output='screen',
        remappings=[('/tf', 'tf'),
                    ('/tf_static', 'tf_static'),
                    ('/goal_pose', 'goal_pose'),
                    ('/clicked_point', 'clicked_point'),
                    ('/initialpose', 'initialpose')])

    exit_event_handler = RegisterEventHandler(
        condition=UnlessCondition(use_namespace),
        event_handler=OnProcessExit(
            target_action=start_rviz_cmd,
            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))

    exit_event_handler_namespaced = RegisterEventHandler(
        condition=IfCondition(use_namespace),
        event_handler=OnProcessExit(
            target_action=start_namespaced_rviz_cmd,
            on_exit=EmitEvent(event=Shutdown(reason='rviz exited'))))

    # 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_rviz_config_file_cmd)

    # Add any conditioned actions
    ld.add_action(start_rviz_cmd)
    ld.add_action(start_namespaced_rviz_cmd)

    # Add other nodes and processes we need
    ld.add_action(exit_event_handler)
    ld.add_action(exit_event_handler_namespaced)

    return ld

 

 길다 길어..  오픈소스를 가져다온 느낌입니다. 

저도 강의자료를 참고하고 작성하고 있는 상태라 일단 apache 저작권표시도 함께 넣었습니다.

 

이제 빌드합니다.

4개의 터미널을 준비합니다. 각각 환경을 불러옵니다.

ros2 launch Addbot_gazebo bringup_gazebo.launch.py world_name:=simple_building.world

ros2 launch Addbot_navigation2 map_building.launch.py use_sim_time:=true

ros2 launch Addbot_navigation2 rviz.launch.py

 

다음을 실행합니다.

일단 가제보 상에서 라이다가 queue가 꽉찼다면서 실행이 안됩니다.

 

근데 rqt상에서 는 라이다가 정상작동하고 있어서 일단 이대로 작성을 하고 강사님께서 직접 작성하신 파일을 GIt에서 레포지토리를 클론해서 보여드리도록하겠습니다. (강의자료에도 라이다는 안뜨는거 보면 가제보에 구현이 안되어 있는 것으로 보이네요)

 

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=base_controller/cmd_vel_unstamped

다음 명령어를 통해서 로봇을 움직이면 됩니다. 그러면 mapping이 시작됩니다.

 

 

움직일 때마다 mapping이 진행됩니다.

다음처럼 모든 지점의 맵을 만들게 되면 저장을 합니다.

 

ros2 run nav2_map_server map_saver_cli

 

그러면 ws에 맵파일 얻습니다.

이 파일을 maps에 넣습니다.

 

다음은 PinkBot 을 gitclone해서 경로를 생성하는 것 까지 해봅시다.