SBPL的安裝與使用

SBPL的安裝

• 下載

cd ~/catkin_ws/src  
git clone https://github.com/sbpl/sbpl.git 

• 安裝
  
  • Build SBPL

cd sbpl  
mkdir build  
cmake ..
make

• Install SBPL
  說明：安裝位置為/usr/local
  

sudo make install
每一次對sbpl的更新，都需要執行該條語句

SBPL_Lattice_Planner的下載與安裝

• 下載

cd ~/catkin_ws/src  
git clone https:
 
//github.com/ros-planning/navigation_experimental

• CMakeLists設定

find_package(PkgConfig REQUIRED)
pkg_check_modules(SBPL REQUIRED sbpl)   find_library(SBPL_LIBRARY NAMES sbpl PATHS ${SBPL_LIBRARY_DIRS} NO_DEFAULT_PATH)
    set(SBPL_LIBRARIES ${SBPL_LIBRARY})
    include_directories(include ${catkin_INCLUDE_DIRS}
 
 ${SBPL_INCLUDE_DIRS})
    link_directories(${catkin_LIBRARY_DIRS} ${SBPL_LIBRARY_DIRS})

• 配置

  rosmake sbpl_lattice_planner

• 說明

  • sbpl_lattice_planner.cpp是move_base包中的一個全域性規劃外掛

navigation_tutorials的下載與安裝

cd ~/catkin_ws/src   
git clone https://github.com/ros-planning/navigation_tutorials  

基於stage的測試

• 啟動

roscore    
roslaunch navigation_stage move_base_amcl_10cm.launch

• 引數設定
  
  • 開啟move_base_amcl_10cm.launch檔案

    <launch>
      <master auto="start"/>
      <param name="/use_sim_time" value="true"/>
      <include file="$(find navigation_stage)/move_base_config/move_base.xml"/>
      <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_stage)/stage_config/maps/willow-full.pgm 0.1" respawn="false" />
      <node pkg="stage_ros" type="stageros" name="stageros" args="$(find navigation_stage)/stage_config/worlds/willow-pr2.world" respawn="false">
        <param name="base_watchdog_timeout" value="0.2"/>
      </node>
      <include file="$(find navigation_stage)/move_base_config/amcl_node.xml"/>
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find navigation_stage)/single_robot.rviz"/>
    </launch>

• 開啟move_base.xml檔案

    <launch>
      <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
        <param name="footprint_padding" value="0.01" />
        <param name="controller_frequency" value="10.0" />
        <param name="controller_patience" value="3.0" />
        <param name="oscillation_timeout" value="30.0" />
        <param name="oscillation_distance" value="0.5" />
        <param name="base_global_planner" value="SBPLLatticePlanner" /> 
        <param name="sbpllatticeplanner/primitive_filename" value="$(find navigation_stage)/mprim/pr2_10cm.mprim" />
        <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
        <rosparam file="$(find navigation_stage)/move_base_config/sbpl_global_params.yaml" command="load" />
      </node>
    </launch>