100 lines
5.7 KiB
Markdown
100 lines
5.7 KiB
Markdown
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# RTK循迹
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## 目录
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* 功能介绍
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* 传感器介绍
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* 实现原理
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## 功能介绍
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RTK循迹是机器人循着用户提前录好的轨迹自主行走，行走过程中机器人能够自动躲避障碍物，自动规划路线，达到目标点。
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RTK循迹要求配置好RTK接收机，然后控制车端完成循迹。
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RTK接收机的数据与里程计的数据融合定位，得到AP1在环境中的坐标点，控制AP1运动，边走边记录当前坐标点的位置，将这些坐标点记录为文件保存下来，得到路径文件。
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在开始循迹的时候，程序加载路径文件，RTK接收机定位数据与里程计融合定位匹配路径数据，机器人按照指定路径行走。
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## 传感器介绍
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RTK循迹 用到的传感器有：
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* 单线激光雷达x2，安装在AP1前后底部
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* RTK接收机，安装在AP1顶板上
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* 编码器/轮速里程计x2，安装在车体内部前侧
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## 实现原理
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| 步骤 | 输入数据 | 操作 | 输出数据 | 使用ROS包 |
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|-----|------------------|--------------------------------------------|----------------|-------------------------------------------------------------------------------------------------------|
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| 1 | | RTK接收机 | 定位数据 | marvelmind驱动包(catkin_ws\src\driver\location\al_rtk_ros_driver) |
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| 2 | 里程计数据 定位数据 | 定位融合 | 当前机器人在环境中的位姿 | location_fusion(catkin_ws\src\navigation\location_fusion) |
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| 3 | 当前机器人位姿 | 控制机器人运动，录制路径 | 路径数据 | path_server(catkin_ws\src\navigation\path_server) |
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| 4 | 路径数据 | 读取录制的路径数据，执行循迹操作 | 目标机器人位姿 | path_server(catkin_ws\src\navigation\path_server) [move_base](http://wiki.ros.org/move_base/) |
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| 5 | 当前机器人位姿 目标机器人位姿 | 根据机器人当前位姿，进行全局规划路线 | 路径数据（初步预估导航路线） | [global_planner(dijkstra) ](http://wiki.ros.org/global_planner) |
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| 6 | 路径数据 前雷达数据 后雷达数据 | 根据规划路径开始导航，进行过程中随着实际环境、障碍物变化，进行局部路径规划，实时避障 | 局部路径规划 避障 | [costmap_2d ](http://wiki.ros.org/cost_map)[teb_local_planner](http://wiki.ros.org/teb_local_planner) |
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| 7 | 速度信息 /cmd_vel | 向底层发送速度命令 | | [move_base](http://wiki.ros.org/move_base/) |
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定位循迹 launch配置示例
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```
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<!-- RTK定位驱动 -->
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<node pkg="al_rtk_ros_driver" type="al_rtk_ros_driver" name="al_ros_driver">
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<remap from="/al_ros_driver/location_pos" to="location_pos"/>
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<param name="map_frame" value="map"/>
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<param name="serial_device" value="/dev/box_3"/>
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<param name="badurate" value="115200"/>
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<param name="domain" value="rtk.ntrip.qxwz.com"/>
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<param name="account" value="qxnsv0012"/>
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<param name="password" value="7fd7069"/>
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<param name="publish_pos_fix_only" value="true"/>
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<param name="auto_use_first_fix_as_enu_origin" value="true" />
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<param name="origin_config_file" value="$(find autolabor_navigation_launch)/params/rtk_tracking_enu_origin.json"/>
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</node>
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<!-- 定位与里程计定位融合 -->
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<node name="location_fusion" pkg="location_fusion" type="simple_fusion">
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<param name="map_frame" value="map"/>
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<param name="odom_frame" value="odom"/>
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<param name="buffer_size" value="50"/>
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<param name="tag_frame" value="lidar_front" />
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<param name="distance_interval" value="0.1"/>
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<param name="rate" value="200"/>
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</node>
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<!-- 录制路径 -->
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<node name="path_saver" pkg="path_server" type="record_path_node">
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<param name="map_frame" value="map"/>
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<param name="base_link_frame" value="base_link"/>
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<param name="odom_topic" value="odom"/>
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<param name="distance_interval" value="0.2"/>
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</node>
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<!-- 加载路径 -->
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<node name="path_loader" pkg="path_server" type="load_path_node">
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<param name="map_frame" value="map"/>
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<param name="path_file" value="default_path"/>
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</node>
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<!-- 导航模块 -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find autolabor_navigation_launch)/params/navigation/move_base/rtk_tracking_move_base.yaml" command="load" />
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<rosparam file="$(find autolabor_navigation_launch)/params/navigation/costmap/two_laser_global_costmap_params_for_tracking.yaml" command="load" ns="global_costmap"/>
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<rosparam file="$(find autolabor_navigation_launch)/params/navigation/costmap/two_laser_local_costmap_params.yaml" command="load" ns="local_costmap"/>
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<rosparam file="$(find autolabor_navigation_launch)/params/navigation/global_planer/tracking_planner_params.yaml" command="load" ns="LoopPathPlanner"/>
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<rosparam file="$(find autolabor_navigation_launch)/params/navigation/local_planer/tracking_teb_local_planner_params.yaml" command="load" ns="TebLocalPlannerROS"/>
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</node>
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```
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