update 二次开发
doubleTing
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@ -12,7 +12,6 @@ AutolaborOS 是由 Autolabor 推出的免费开源机器人操作系统，基于
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OS在AP1上已经实现了机器人自主导航（2D/3D SLAM 单目标/多目标）、自动循迹、远程遥控等功能。
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Autolabor Pro1 机器人出厂都已预装AutolaborOS。
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## 源码说明
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@ -1,4 +1,602 @@
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# 激光SLAM-多点导航
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## 目录
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本文介绍SLAM导航中[多点导航功能包](/usedoc/navigationKit2/version_two/user_guide/quick_start/multi_slam_doc)的开发思路。
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### 开发背景：
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在使用 ROS Navigation & RViz 进行 2D Nav Goal 导航的时候，我们会遇到这些情况：
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1. 给定导航的目标点只能设置一个，当有多点任务时需要等待一个个任务结束后，再次手动给目标
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2. 无法暂停或取消任务
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3. 任务不可循环
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### 开发目的：
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完成多目标点导航，可以对导航环节进行操控，如可循环、取消、重置任务等。
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### 开发思路：
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1. 2D Nav Goal 的单点导航是如何实现的？
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我们可以知道导航目标是通过 RViz 工具栏中 2D Nav Goal发布出去的。
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通过查看 RViz的配置文件或者 Panels->Add New Panel-> Tool Property ，可以了解当使用2D Nav Goal 在地图上拉了一个箭头（给定目标点时），其实是向话题 /move_base_simple/goal 发布了 [geometry_msgs/PoseStamped](http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseStamped.html) 类型的消息，这个是目标点的位姿，包含坐标点与朝向。
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根据 NodeGraph 可以看到话题 /move_base_simple/goal 被导航包的节点 /move_base 订阅了，进而发给 Navigation 中的各个话题，完成导航。
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2. 如何基于单点实现多点导航？
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要在单点基础上实现多目标点导航的话，就要设计一个关于多个导航目标点消息geometry_msgs/PoseStamped的数据结构，并对多个目标点进行处理，完成导航。
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实现多点的方法有多种，在不打破 ROS Navigation 包的完整性的前提下，我选择在2D Nav Goal的 RViz节点和 /move_base 节点中间添加了一个话题 /move_base_simple/goal_temp，将原本发送给 /move_base_simple/goal 的消息，转发给/move_base_simple/goal_temp，通过此话题来积攒多个 2D Nav Goal（任务队列），并根据任务完成的状态反馈，按顺序将每个导航目标点消息 geometry_msgs/PoseStamped 再发送给话题/move_base_simple/goal，以完成多任务中的单次目标点的导航（如下图示）。
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3. 如何来发布多点任务？
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像 2D Nav Goal 一样，我们也可以在 RViz 中开发可视化的操作栏，这要使用到 RViz plugin ， ROS中的可视化工具绝大部分都是基于Qt进行开发的，此前古月居有过详细介绍，可参考[这篇文章](https://zhuanlan.zhihu.com/p/39390512)。
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### 最终效果
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首先，我们来看一下最终的实现效果。
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MultiNaviGoalsPanel是多点SLAM导航任务的可视化操作区，包括任务点列表、循环、重置、取消、开始任务。
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通过 RViz plugin 设计的Mark Display，能够显示的目标点的标号及箭头（朝向）。
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#### 代码实现
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#### 1. 头文件 multi_navi_goal_panel.h
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Qt说明：
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* 文字编辑——QLineEdit
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* 按键——QPushButton
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* 列表——QTableWidget
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* 复选框——QCheckBox
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* 文字显示——QString
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ROS说明:
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Publisher：
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* 发送每个目标点消息给/move_base_simple/goal的goal_pub_
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* 发送取消指令消息给/move_base/cancel的cancel_pub_
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* 发送文字和箭头标记的mark_pub_。
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Subsrciber：
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* 订阅来自rviz中2D Nav Goal的导航目标点消息的goal_sub_
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* 订阅目前导航状态的status_sub_
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```
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#ifndef MULTI_NAVI_GOAL_PANEL_H
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#define MULTI_NAVI_GOAL_PANEL_H
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#include <string>
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#include <ros/ros.h>
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#include <ros/console.h>
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#include <tf2_ros/transform_listener.h>
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#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
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#include <rviz/panel.h>//plugin基类的头文件
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#include <QPushButton>//Qt按钮
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#include <QTableWidget>//Qt表格
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#include <QCheckBox>//Qt复选框
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#include <visualization_msgs/Marker.h>
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#include <geometry_msgs/PoseArray.h>
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#include <geometry_msgs/Point.h>
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#include <geometry_msgs/PoseStamped.h>
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#include <std_msgs/String.h>
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#include <actionlib_msgs/GoalStatus.h>
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#include <actionlib_msgs/GoalStatusArray.h>
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#include <tf/transform_datatypes.h>
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namespace navi_multi_goals_pub_rviz_plugin {
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class MultiNaviGoalsPanel : public rviz::Panel {
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Q_OBJECT
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public:
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explicit MultiNaviGoalsPanel(QWidget *parent = 0);
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virtual void load(const rviz::Config &config);
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virtual void save(rviz::Config config) const;
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public Q_SLOTS:
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void setMaxNumGoal(const QString &maxNumGoal);//设置最大可设置的目标点数量
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void writePose(geometry_msgs::Pose pose);//将目标点位姿写入任务列表
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void markPose(const geometry_msgs::PoseStamped::ConstPtr &pose);//在地图中标记目标位姿
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void deleteMark();//删除标记
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protected Q_SLOTS:
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void updateMaxNumGoal(); // 更新最大可设置的目标点数量
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void initPoseTable(); // 初始化目标点表格
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void updatePoseTable(); // 更新目标点表格
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void startNavi(); // 开始第一个目标点任务导航
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void cancelNavi(); // 取消现在进行中的导航
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void addPose();
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void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose); // 目标数量子回调函数
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void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses); // 状态子回调函数
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void checkCycle(); // 确认循环
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void completeNavi(); // 第一个任务到达后，继续进行剩下任务点的导航任务
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void cycleNavi();
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bool checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list); // 检查是否到达目标点
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static void startSpin(); // 启用ROS订阅
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protected:
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QLineEdit *output_maxNumGoal_editor_;
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QPushButton *output_maxNumGoal_button_, *output_reset_button_, *output_startNavi_button_, *output_cancel_button_, *output_addPoint_button_;
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QTableWidget *poseArray_table_;
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QCheckBox *cycle_checkbox_;
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QString output_maxNumGoal_;
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// The ROS node handle.
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ros::NodeHandle nh_;
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ros::Publisher goal_pub_, cancel_pub_, marker_pub_, init_goal_pub_;
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ros::Subscriber goal_sub_, status_sub_;
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tf2_ros::Buffer tfBuffer_;
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tf2_ros::TransformListener tfListener_;
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// 多目标点任务栏定义
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int maxNumGoal_;
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int curGoalIdx_ = 0, cycleCnt_ = 0;
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bool permit_ = false, cycle_ = false, arrived_ = false;
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geometry_msgs::PoseArray pose_array_;
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actionlib_msgs::GoalID cur_goalid_;
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};
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} // end namespace navi-multi-goals-pub-rviz-plugin
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#endif // MULTI_NAVI_GOAL_PANEL_H
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```
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#### 2. cpp文件 multi_navi_goal_panel.cpp
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```
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#include <cstdio>
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#include <ros/console.h>
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#include <fstream>
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#include <sstream>
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#include <QPainter>
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#include <QLineEdit>
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#include <QVBoxLayout>
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#include <QLabel>
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#include <QTimer>
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#include <QDebug>
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#include <QtWidgets/QTableWidget>
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#include <QtWidgets/qheaderview.h>
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#include "multi_navi_goal_panel.h"
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namespace navi_multi_goals_pub_rviz_plugin {
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MultiNaviGoalsPanel::MultiNaviGoalsPanel(QWidget *parent)
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: rviz::Panel(parent), nh_(), maxNumGoal_(1), tfListener_(tfBuffer_) {
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goal_sub_ = nh_.subscribe<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 100,
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boost::bind(&MultiNaviGoalsPanel::goalCntCB, this, _1));
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status_sub_ = nh_.subscribe<actionlib_msgs::GoalStatusArray>("move_base/status", 1,
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boost::bind(&MultiNaviGoalsPanel::statusCB, this,
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_1));
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goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal", 1);
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init_goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 1);
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cancel_pub_ = nh_.advertise<actionlib_msgs::GoalID>("move_base/cancel", 1);
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marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1);
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QVBoxLayout *root_layout = new QVBoxLayout;
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// create a panel about "maxNumGoal"
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QHBoxLayout *maxNumGoal_layout = new QHBoxLayout;
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maxNumGoal_layout->addWidget(new QLabel("目标最大数量"));
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output_maxNumGoal_editor_ = new QLineEdit;
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maxNumGoal_layout->addWidget(output_maxNumGoal_editor_);
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output_maxNumGoal_button_ = new QPushButton("确定");
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maxNumGoal_layout->addWidget(output_maxNumGoal_button_);
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root_layout->addLayout(maxNumGoal_layout);
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QHBoxLayout *second_row_layout = new QHBoxLayout;
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cycle_checkbox_ = new QCheckBox("循环");
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second_row_layout->addWidget(cycle_checkbox_);
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output_addPoint_button_ = new QPushButton("添加机器人当前位置");
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second_row_layout->addWidget(output_addPoint_button_);
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root_layout->addLayout(second_row_layout);
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// creat a QTable to contain the poseArray
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poseArray_table_ = new QTableWidget;
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initPoseTable();
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root_layout->addWidget(poseArray_table_);
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//creat a manipulate layout
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QHBoxLayout *manipulate_layout = new QHBoxLayout;
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output_reset_button_ = new QPushButton("重置");
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manipulate_layout->addWidget(output_reset_button_);
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output_cancel_button_ = new QPushButton("取消");
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manipulate_layout->addWidget(output_cancel_button_);
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output_startNavi_button_ = new QPushButton("开始导航!");
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manipulate_layout->addWidget(output_startNavi_button_);
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root_layout->addLayout(manipulate_layout);
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setLayout(root_layout);
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// set a Qtimer to start a spin for subscriptions
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QTimer *output_timer = new QTimer(this);
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output_timer->start(200);
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// 设置信号与槽的连接
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connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
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SLOT(updateMaxNumGoal()));
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connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
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SLOT(updatePoseTable()));
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connect(output_reset_button_, SIGNAL(clicked()), this, SLOT(initPoseTable()));
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connect(output_cancel_button_, SIGNAL(clicked()), this, SLOT(cancelNavi()));
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connect(output_startNavi_button_, SIGNAL(clicked()), this, SLOT(startNavi()));
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connect(output_addPoint_button_, SIGNAL(clicked()), this, SLOT(addPose()));
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connect(cycle_checkbox_, SIGNAL(clicked(bool)), this, SLOT(checkCycle()));
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connect(output_timer, SIGNAL(timeout()), this, SLOT(startSpin()));
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}
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// 更新maxNumGoal命名
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void MultiNaviGoalsPanel::updateMaxNumGoal() {
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setMaxNumGoal(output_maxNumGoal_editor_->text());
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}
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// set up the maximum number of goals
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void MultiNaviGoalsPanel::setMaxNumGoal(const QString &new_maxNumGoal) {
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// 检查maxNumGoal是否发生改变.
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if (new_maxNumGoal != output_maxNumGoal_) {
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output_maxNumGoal_ = new_maxNumGoal;
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// 如果命名为空，不发布任何信息
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if (output_maxNumGoal_ == "") {
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nh_.setParam("maxNumGoal_", 1);
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maxNumGoal_ = 1;
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} else {
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// velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>(output_maxNumGoal_.toStdString(), 1);
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nh_.setParam("maxNumGoal_", output_maxNumGoal_.toInt());
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maxNumGoal_ = output_maxNumGoal_.toInt();
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}
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Q_EMIT configChanged();
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}
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}
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// initialize the table of pose
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void MultiNaviGoalsPanel::initPoseTable() {
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ROS_INFO("Initialize");
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curGoalIdx_ = 0, cycleCnt_ = 0;
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permit_ = false, cycle_ = false;
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poseArray_table_->clear();
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pose_array_.poses.clear();
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deleteMark();
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poseArray_table_->setRowCount(maxNumGoal_);
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poseArray_table_->setColumnCount(3);
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poseArray_table_->setEditTriggers(QAbstractItemView::NoEditTriggers);
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poseArray_table_->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
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QStringList pose_header;
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pose_header << "x" << "y" << "yaw";
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poseArray_table_->setHorizontalHeaderLabels(pose_header);
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cycle_checkbox_->setCheckState(Qt::Unchecked);
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}
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// delete marks in the map
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void MultiNaviGoalsPanel::deleteMark() {
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visualization_msgs::Marker marker_delete;
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marker_delete.action = visualization_msgs::Marker::DELETEALL;
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marker_pub_.publish(marker_delete);
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}
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//update the table of pose
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void MultiNaviGoalsPanel::updatePoseTable() {
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poseArray_table_->setRowCount(maxNumGoal_);
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// pose_array_.poses.resize(maxNumGoal_);
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QStringList pose_header;
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pose_header << "x" << "y" << "yaw";
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poseArray_table_->setHorizontalHeaderLabels(pose_header);
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poseArray_table_->show();
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}
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// call back function for counting goals
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void MultiNaviGoalsPanel::goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose) {
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if (pose_array_.poses.size() < maxNumGoal_) {
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pose_array_.poses.push_back(pose->pose);
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pose_array_.header.frame_id = pose->header.frame_id;
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writePose(pose->pose);
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markPose(pose);
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} else {
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ROS_ERROR("Beyond the maximum number of goals: %d", maxNumGoal_);
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}
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}
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// write the poses into the table
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void MultiNaviGoalsPanel::writePose(geometry_msgs::Pose pose) {
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poseArray_table_->setItem(pose_array_.poses.size() - 1, 0,
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new QTableWidgetItem(QString::number(pose.position.x, 'f', 2)));
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poseArray_table_->setItem(pose_array_.poses.size() - 1, 1,
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new QTableWidgetItem(QString::number(pose.position.y, 'f', 2)));
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poseArray_table_->setItem(pose_array_.poses.size() - 1, 2,
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new QTableWidgetItem(
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QString::number(tf::getYaw(pose.orientation) * 180.0 / 3.14, 'f', 2)));
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}
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// when setting a Navi Goal, it will set a mark on the map
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void MultiNaviGoalsPanel::markPose(const geometry_msgs::PoseStamped::ConstPtr &pose) {
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if (ros::ok()) {
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visualization_msgs::Marker arrow;
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visualization_msgs::Marker number;
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arrow.header.frame_id = number.header.frame_id = pose->header.frame_id;
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arrow.ns = "navi_point_arrow";
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number.ns = "navi_point_number";
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arrow.action = number.action = visualization_msgs::Marker::ADD;
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arrow.type = visualization_msgs::Marker::ARROW;
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number.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
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arrow.pose = number.pose = pose->pose;
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number.pose.position.z += 1.0;
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arrow.scale.x = 1.0;
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arrow.scale.y = 0.2;
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number.scale.z = 1.0;
|
||||
arrow.color.r = number.color.r = 1.0f;
|
||||
arrow.color.g = number.color.g = 0.98f;
|
||||
arrow.color.b = number.color.b = 0.80f;
|
||||
arrow.color.a = number.color.a = 1.0;
|
||||
arrow.id = number.id = pose_array_.poses.size();
|
||||
number.text = std::to_string(pose_array_.poses.size());
|
||||
marker_pub_.publish(arrow);
|
||||
marker_pub_.publish(number);
|
||||
}
|
||||
}
|
||||
|
||||
// check whether it is in the cycling situation
|
||||
void MultiNaviGoalsPanel::checkCycle() {
|
||||
cycle_ = cycle_checkbox_->isChecked();
|
||||
}
|
||||
|
||||
void MultiNaviGoalsPanel::addPose() {
|
||||
std::string target_frame = "map";
|
||||
std::string child_frame = "base_link";
|
||||
if (tfBuffer_.canTransform(target_frame, child_frame, ros::Time(0), ros::Duration(4.0))) {
|
||||
geometry_msgs::TransformStamped transformStamped = tfBuffer_.lookupTransform(target_frame, child_frame,
|
||||
ros::Time(0),
|
||||
ros::Duration(4.0));
|
||||
geometry_msgs::PoseStamped pose;
|
||||
pose.header.frame_id = target_frame;
|
||||
pose.header.stamp = transformStamped.header.stamp;
|
||||
pose.pose.position.x = transformStamped.transform.translation.x;
|
||||
pose.pose.position.y = transformStamped.transform.translation.y;
|
||||
pose.pose.position.z = transformStamped.transform.translation.z;
|
||||
pose.pose.orientation = transformStamped.transform.rotation;
|
||||
|
||||
init_goal_pub_.publish(pose);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// start to navigate, and only command the first goal
|
||||
void MultiNaviGoalsPanel::startNavi() {
|
||||
curGoalIdx_ = curGoalIdx_ % pose_array_.poses.size();
|
||||
if (!pose_array_.poses.empty() && curGoalIdx_ < maxNumGoal_) {
|
||||
geometry_msgs::PoseStamped goal;
|
||||
goal.header = pose_array_.header;
|
||||
goal.pose = pose_array_.poses.at(curGoalIdx_);
|
||||
goal_pub_.publish(goal);
|
||||
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
|
||||
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
|
||||
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
|
||||
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
|
||||
curGoalIdx_ += 1;
|
||||
permit_ = true;
|
||||
} else {
|
||||
ROS_ERROR("Something Wrong");
|
||||
}
|
||||
}
|
||||
|
||||
// complete the remaining goals
|
||||
void MultiNaviGoalsPanel::completeNavi() {
|
||||
if (curGoalIdx_ < pose_array_.poses.size()) {
|
||||
geometry_msgs::PoseStamped goal;
|
||||
goal.header = pose_array_.header;
|
||||
goal.pose = pose_array_.poses.at(curGoalIdx_);
|
||||
goal_pub_.publish(goal);
|
||||
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
|
||||
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
|
||||
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
|
||||
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
|
||||
curGoalIdx_ += 1;
|
||||
permit_ = true;
|
||||
} else {
|
||||
ROS_ERROR("All goals are completed");
|
||||
permit_ = false;
|
||||
}
|
||||
}
|
||||
|
||||
// command the goals cyclically
|
||||
void MultiNaviGoalsPanel::cycleNavi() {
|
||||
if (permit_) {
|
||||
geometry_msgs::PoseStamped goal;
|
||||
goal.header = pose_array_.header;
|
||||
goal.pose = pose_array_.poses.at(curGoalIdx_ % pose_array_.poses.size());
|
||||
goal_pub_.publish(goal);
|
||||
ROS_INFO("Navi to the Goal%lu, in the %dth cycle", curGoalIdx_ % pose_array_.poses.size() + 1,
|
||||
cycleCnt_ + 1);
|
||||
bool even = ((cycleCnt_ + 1) % 2 != 0);
|
||||
QColor color_table;
|
||||
if (even) color_table = QColor(255, 69, 0); else color_table = QColor(100, 149, 237);
|
||||
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 0)->setBackgroundColor(color_table);
|
||||
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 1)->setBackgroundColor(color_table);
|
||||
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 2)->setBackgroundColor(color_table);
|
||||
curGoalIdx_ += 1;
|
||||
cycleCnt_ = curGoalIdx_ / pose_array_.poses.size();
|
||||
}
|
||||
}
|
||||
|
||||
// cancel the current command
|
||||
void MultiNaviGoalsPanel::cancelNavi() {
|
||||
if (!cur_goalid_.id.empty()) {
|
||||
cancel_pub_.publish(cur_goalid_);
|
||||
ROS_ERROR("Navigation have been canceled");
|
||||
}
|
||||
}
|
||||
|
||||
// call back for listening current state
|
||||
void MultiNaviGoalsPanel::statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses) {
|
||||
bool arrived_pre = arrived_;
|
||||
arrived_ = checkGoal(statuses->status_list);
|
||||
// if (arrived_) { ROS_ERROR("%d,%d", int(arrived_), int(arrived_pre)); }
|
||||
if (arrived_ && arrived_ != arrived_pre && ros::ok() && permit_) {
|
||||
if (cycle_) cycleNavi();
|
||||
else completeNavi();
|
||||
}
|
||||
}
|
||||
|
||||
//check the current state of goal
|
||||
bool MultiNaviGoalsPanel::checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list) {
|
||||
bool done;
|
||||
if (!status_list.empty()) {
|
||||
for (auto &i : status_list) {
|
||||
if (i.status == 3) {
|
||||
done = true;
|
||||
// ROS_INFO("completed Goal%d", curGoalIdx_);
|
||||
} else if (i.status == 4) {
|
||||
// ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
|
||||
return false;
|
||||
} else if (i.status == 0) {
|
||||
done = true;
|
||||
} else if (i.status == 1) {
|
||||
cur_goalid_ = i.goal_id;
|
||||
done = false;
|
||||
} else done = false;
|
||||
}
|
||||
} else {
|
||||
// ROS_INFO("Please input the Navi Goal");
|
||||
done = false;
|
||||
}
|
||||
return done;
|
||||
}
|
||||
|
||||
// spin for subscribing
|
||||
void MultiNaviGoalsPanel::startSpin() {
|
||||
if (ros::ok()) {
|
||||
ros::spinOnce();
|
||||
}
|
||||
}
|
||||
//读取目标点
|
||||
void MultiNaviGoalsPanel::load(const rviz::Config &config) {
|
||||
Panel::load(config);
|
||||
QString goal_number;
|
||||
if (config.mapGetString("multi_goal_panel_number", &goal_number)) {
|
||||
output_maxNumGoal_editor_->setText(goal_number);
|
||||
updateMaxNumGoal();
|
||||
updatePoseTable();
|
||||
|
||||
QString goal_var;
|
||||
if (config.mapGetString("multi_goal_panel_data", &goal_var)) {
|
||||
QStringList goal_list = goal_var.split("|");
|
||||
for (int i = 0; i < goal_list.size(); i++) {
|
||||
QStringList goal = goal_list.at(i).split(",");
|
||||
|
||||
geometry_msgs::PoseStamped pose;
|
||||
pose.header.frame_id = "map";
|
||||
pose.header.stamp = ros::Time::now();
|
||||
pose.pose.position.x = goal.at(0).toDouble();
|
||||
pose.pose.position.y = goal.at(1).toDouble();
|
||||
pose.pose.position.z = 0.0;
|
||||
|
||||
pose.pose.orientation = tf::createQuaternionMsgFromYaw(goal.at(2).toDouble() / 180 * 3.14);
|
||||
init_goal_pub_.publish(pose);
|
||||
}
|
||||
}
|
||||
|
||||
bool cycle_flag;
|
||||
if (config.mapGetBool("multi_goal_panel_cycle", &cycle_flag)) {
|
||||
if (cycle_flag) {
|
||||
cycle_checkbox_->setCheckState(Qt::CheckState::Checked);
|
||||
} else {
|
||||
cycle_checkbox_->setCheckState(Qt::CheckState::Unchecked);
|
||||
}
|
||||
checkCycle();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//保存目标点
|
||||
void MultiNaviGoalsPanel::save(rviz::Config config) const {
|
||||
Panel::save(config);
|
||||
config.mapSetValue("multi_goal_panel_cycle", cycle_checkbox_->isChecked());
|
||||
if (!output_maxNumGoal_editor_->text().isEmpty()) {
|
||||
int goal_number = output_maxNumGoal_editor_->text().toInt();
|
||||
if (goal_number > 0) {
|
||||
config.mapSetValue("multi_goal_panel_number", goal_number);
|
||||
|
||||
QString *goal_list = new QString();
|
||||
for (int i = 0; i < pose_array_.poses.size(); i++) {
|
||||
for (int j = 0; j < 3; j++) {
|
||||
goal_list->append(poseArray_table_->item(i, j)->text());
|
||||
if (j != 2) {
|
||||
goal_list->append(",");
|
||||
}
|
||||
}
|
||||
if (i != goal_number - 1) {
|
||||
goal_list->append("|");
|
||||
}
|
||||
}
|
||||
|
||||
if (!goal_list->isEmpty()) {
|
||||
config.mapSetValue("multi_goal_panel_data", *goal_list);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} // end namespace navi-multi-goals-pub-rviz-plugin
|
||||
|
||||
// 声明此类是一个rviz的插件
|
||||
|
||||
#include <pluginlib/class_list_macros.h>
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel, rviz::Panel)
|
||||
|
||||
|
||||
```
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,4 +1,106 @@
|
|||
# 视觉SLAM
|
||||
|
||||
>本文主要对SLAM技术进行介绍，叙述了VSLAM的框架及关键技术和方法，并总结了目前已有的VSLAM系统和相关资料。
|
||||
|
||||
## 目录
|
||||
|
||||
1. SLAM技术介绍
|
||||
2. VSLAM系统及相关资料介绍
|
||||
3. SLAM框架
|
||||
1. SLAM的基本过程
|
||||
2. SLAM的主要模块
|
||||
|
||||
|
||||
## 1.SLAM技术介绍
|
||||
|
||||
**SLAM**，全称是Simultaneous Localization and Mapping，即**同时定位与建图**，指机器人在自身位置不确定的条件下,在完全未知环境中创建地图，同时利用地图进行自主定位和导航。因此可知SLAM的主要工作是**定位**以及**建图**。
|
||||
|
||||
|
||||
|
||||
|
||||
目前SLAM有很多实现方法，根据使用传感器不同，主要分为：
|
||||
|
||||
**（1）激光雷达传感器；**
|
||||
**（2）视觉传感器；**
|
||||
|
||||
**视觉SLAM**（Visual SLAM 简称VSLAM）包括使用**单目SLAM**、**双目SLAM**和以**Kinect**为代表的深度摄像头的**RGB-D SLAM**。相比使用激光雷达传感器，视觉传感器的成本更低，因此也越来越受青睐。
|
||||
|
||||
目前SLAM被广泛应用于无人驾驶汽车、无人机、VR和AR等领域。
|
||||
|
||||
下面是宾大的教授kumar做的特别有名的一个demo，是在无人机上利用二维激光雷达做的SLAM。
|
||||
|
||||
|
||||
|
||||
## 2.VSLAM系统及相关资料介绍
|
||||
|
||||
目前在VSLAM领域实现较好的SLAM系统有：
|
||||
|
||||
- 单目、双目SLAM:
|
||||
|
||||
(1).**PTAM**(Parallel Tracking And Mapping):2007年很流行的SLAM项目，是**第一个**使用BA完成**实时SLAM**的系统。但其缺乏**回环检测和重定位等功能**，只能作用于小规模的场景，且稳定性也不是很高。（http://www.robots.ox.ac.uk/~gk/PTAM/）
|
||||
|
||||
(2).**DTAM**(Dense tracking and mapping in real-time):2011年，Direct SLAM方法的**鼻祖**;
|
||||
|
||||
(3).**LSD-SLAM**(Large-Scale Direct Monocular SLAM):2014年一个半稠密SLAM系统。（http://vision.in.tum.de/research/vslam/lsdslam）
|
||||
|
||||
(4).**ORB-SLAM**:2015年一个比较完整的基于特征点的SLAM系统。
|
||||
（http://webdiis.unizar.es/~raulmur/orbslam/）
|
||||
|
||||
- RGB-D SLAM:
|
||||
|
||||
(1).**KinectFusion** 2011
|
||||
（http://www.microsoft.com/en-us/research/project/kinectfusion-project-page/）
|
||||
|
||||
(2).**RGBD-SLAM2** 2014 （http://felixendres.github.io/rgbdslam_v2/）
|
||||
|
||||
(3).**ElasticFusion** 2015 （http://www.imperial.ac.uk/dyson-robotics-lab/downloads/elastic-fusion/）
|
||||
|
||||
当然除了上述项目的学习外，对于slam的学习入门，有一些经典教材如：
|
||||
**Multiple View Geometry in Computer Vision (Second Edition)**
|
||||
（http://www.robots.ox.ac.uk/~vgg/hzbook/）也有中文版为《计算机视觉中的多视图几何》。
|
||||
|
||||
**Robotics Vision and Control**（http://www.petercorke.com/RVC/） 本书是面向实践的，详细介绍了机器人和机器视觉。也有了中文版，叫做《机器人学、机器视觉与控制》。
|
||||
此外，对于slam入门学习推荐高博的**一起做RGB-D SLAM**其博客为半闲居士（http://www.cnblogs.com/gaoxiang12/p/4633316.html）
|
||||
|
||||
## 3.SLAM框架
|
||||
|
||||
### 3.1 SLAM的基本过程
|
||||
|
||||
描述为:机器人在未知环境中从一个未知位置开始移动,在移动过程中根据位置估计和传感器数据进行自身定位,同时建造增量式地图。
|
||||
|
||||
（1）**定位(localization)**：机器人必须知道自己在环境中位置。
|
||||
|
||||
（2）**建图(mapping)**：机器人必须记录环境中特征的位置（如果知道自己的位置）
|
||||
|
||||
（3）**SLAM**：机器人在定位的同时建立环境地图。其基本原理是运过概率统计的方法，通过多特征匹配来达到定位和减少定位误差的。
|
||||
|
||||
|
||||
|
||||
### 3.2 VSLAM的主要模块
|
||||
|
||||
视觉SLAM主要分为几个模块：**数据采集、视觉里程计(Visual Odometry)、后端优化、建图(Mapping)、闭环检测(Loop closure detection)**。如下图所示：
|
||||
|
||||
|
||||
|
||||
#### 3.2.1 视觉里程计
|
||||
|
||||
视觉里程计是利用一个图像序列或者一个视频流，计算摄像机的方向和位置的过程。一般包括图像获取后、畸变校正、特征检测匹配或者直接匹配对应像素、通过对极几何原理估计相机的旋转矩阵和平移向量。
|
||||
|
||||
|
||||
|
||||
|
||||
#### 3.2.2 后端优化
|
||||
|
||||
理论上来说，如果视觉里程计模块估计的相机的旋转矩阵R和平移向量t都正确，就能得到完美的定位和建图了。但实际试验中，我们得到的数据往往有很多噪声，且由于传感器的精度、错误的匹配等，都对造成结果有误差。并且由于我们是只把新的一帧与前一个关键帧进行比较，当某一帧的结果有误差时，就会对后面的结果产生**累计误差**，导致误差越来越大。**为了解决这个问题，引入后端优化**。
|
||||
|
||||
后端优化一般采用捆集调整(BA)、卡尔曼滤波(EKF)、图优化等方式来解决。其中**基于图优化的后端优化**，效果最好。Graph-based SLAM一般使用g2o求解器，进行图优化计算。
|
||||
|
||||
|
||||
|
||||
#### 3.2.3 闭环检测
|
||||
|
||||
后端优化可能得到一个比较优的解，但当运动回到某一个之前去过的地方，如果能认出这个地方，找到并与当时的关键帧进行比较，就可以得到比单用后端优化更准确更高效的结果。闭环检测就是要解决这个问题。
|
||||
|
||||
闭环检测有两种方式，一是根据估计出来的相机的位置，看是否与之前否个位置邻近；**另外一种是根据图像，自动识别出来这个场景之前到过，并找到当时的关键帧**。目前常用的后一种方法，其实是一个非监督的模式识别问题。比较常用的方法是采用Bag-of-Words(BOW)，**ORB-SLAM**就是使用这个方法来进行**闭环检测**。
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue