From 2f94a112c009ad5708bc22afed7960c738b06408 Mon Sep 17 00:00:00 2001 From: doubleTing <835497784@qq.com> Date: Thu, 2 Jul 2020 17:42:25 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B8=B8=E8=A7=81=E9=97=AE=E7=AD=94=E8=A1=A5?= =?UTF-8?q?=E5=85=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- source/common/q_a/doc.md | 28 +++- source/common/q_a/doc1.md | 11 +- source/common/q_a/doc2.md | 134 ++++++++++++++++-- source/common/q_a/doc3.md | 132 +++++++++++++++++ source/common/q_a/doc4.md | 0 source/common/q_a/imgs/info10.png | Bin 0 -> 13503 bytes source/common/q_a/imgs/info5.png | Bin 0 -> 2199 bytes source/common/q_a/imgs/info6.png | Bin 0 -> 62308 bytes source/common/q_a/imgs/info7.png | Bin 0 -> 85617 bytes source/common/q_a/imgs/info8.jpg | Bin 0 -> 118563 bytes source/common/q_a/imgs/info9.png | Bin 0 -> 515105 bytes source/conf.json | 4 + source/version_two/google_test.md | 1 - source/version_two/google_test_en.md | 1 - source/version_two/google_test_store.md | 2 - source/version_two/google_test_store_en.md | 1 - source/version_two/google_test_text.md | 7 - source/version_two/location/guide/doc.md | 3 + .../version_two/location/guide/location_qa.md | 34 ----- 19 files changed, 295 insertions(+), 63 deletions(-) create mode 100644 source/common/q_a/doc3.md create mode 100644 source/common/q_a/doc4.md create mode 100644 source/common/q_a/imgs/info10.png create mode 100644 source/common/q_a/imgs/info5.png create mode 100644 source/common/q_a/imgs/info6.png create mode 100644 source/common/q_a/imgs/info7.png create mode 100644 source/common/q_a/imgs/info8.jpg create mode 100644 source/common/q_a/imgs/info9.png delete mode 100644 source/version_two/google_test.md delete mode 100644 source/version_two/google_test_en.md delete mode 100644 source/version_two/google_test_store.md delete mode 100644 source/version_two/google_test_store_en.md delete mode 100644 source/version_two/google_test_text.md delete mode 100644 source/version_two/location/guide/location_qa.md diff --git a/source/common/q_a/doc.md b/source/common/q_a/doc.md index a9ec1cd..1e92153 100644 --- a/source/common/q_a/doc.md +++ b/source/common/q_a/doc.md @@ -9,7 +9,8 @@ 4. Mini 计算机上插口都够,为什么还要额外使用 USB-Hub ,我可以不用 Usb-Hub 吗? 5. USB-Hub 上面的接口不通用吗? 6. 我想换台计算机来作为上位机, OS 系统装好,USB-Hub 也插好了, 除了电脑本身其他什么都没变,为什么测试雷达、定位标签都找不到设备? -7.(接上问) 我就想换台计算机,然后把设备用起来,那我该怎么办? +7. (接上问) 我就想换台计算机,然后把设备用起来,那我该怎么办? +8. 电池充电要冲多久才能充满? ## 建图导航-建图篇 @@ -21,6 +22,10 @@ 5. AP1不受键盘控制、失控 6. 如何判断自己的建图质量 7. 如何建出高质量的地图/建图效果不佳/地图构建要点 +8. 建好的地图存放在哪里 +9. 我有多个环境,地图是否可以保存多个,不用每次重新建图 +10. 已构建好的地图文件是什么格式,如何对其进行修改 +11. (接上问)如果一定要手动修改地图,怎么办? @@ -29,5 +34,22 @@ 1. 建图完毕后,点击开始导航就会报错 2. 初始化定位如何完成 3. 初始化定位一直没有成功,地图和真实环境不符是什么原因 -4. 导航过程中,机器人走的太慢,速度能再快点吗? -5. (接上问)我一定要提高速度,在哪里改参数? +4. 开始导航后,为什么车走的特别慢,完全走不动的样子 +5. 导航过程中,机器人走的太慢,速度能再快点吗? +6. (接上问)我一定要提高速度,在哪里改参数? +7. 导航时,如何调整机器人可通过的宽度/让机器人离障碍物可以更近一点 +8. 机器人导航到达这个目标点是以什么作为参考的呢?这个位置又是如何确定的呢? + +## 定位巡迹-定位标签篇 + +1. Dashboard 软件打开报错 +2. Dashboard 无法唤醒对应id的标签 +3. 唤醒标签后,标签会自动关闭吗 +4. 设备插上电脑后,电脑无法识别 +5. 路由连接电脑,Dashboard 软件打开后,无法找到路由 Not found modem connection to computer through USB. + +## 定位巡迹-巡迹篇 + +1. 录制轨迹保存的路径,是怎么存储的?存储在哪里? +2. 轨迹是否可以保存多个,如何选择不同的轨迹进行巡迹任务? +3. 如何调整机器人在巡迹时的速度 diff --git a/source/common/q_a/doc1.md b/source/common/q_a/doc1.md index 6e25611..55f21d4 100644 --- a/source/common/q_a/doc1.md +++ b/source/common/q_a/doc1.md @@ -7,6 +7,7 @@ 5. USB-Hub 上面的接口不通用吗? 6. 我想换台计算机来作为上位机, OS 系统装好,USB-Hub 也插好了, 除了电脑本身其他什么都没变,为什么测试雷达、定位标签都找不到设备? 7.(接上问) 我就想换台计算机,然后把设备用起来,那我该怎么办? +8. 电池充电要冲多久才能充满? *** @@ -70,11 +71,11 @@ Kinec集线器的数据线另一端必须插在工控机 **USB3.0** 接口上, 2. 把 usb-hub 上所有设备都拔掉 3. terminal 中执行 - ```$ vim /etc/udev/rules/99-position.rules``` + `$ vim /etc/udev/rules/99-position.rules` 注:box_1 为前雷达,box_2 为后雷达,box_3 为定位标签,autolabor_pro1 为 AP1 机器人 4. 将 hub上的设备依次插上保持不动,每插一个在 terminal 中执行一次 - ```$ dmesg``` + `$ dmesg` 5. 将 99-position.rules 中对应设备 rules 里面的那一行的 kernels 修改为 $ dmesg 查看到的值 @@ -85,3 +86,9 @@ Kinec集线器的数据线另一端必须插在工控机 **USB3.0** 接口上, 6. 每个设备修改完毕后,保存 99-position.rules 退出 7. 保存完毕,重启电脑 + +
8. 电池充电要冲多久才能充满?
+ +AP1 标准版/导航套件-电源模块:电池从0-100%,需要7小时左右 + +AP1 高续航版: 电池从0-100%,需要10小时左右 diff --git a/source/common/q_a/doc2.md b/source/common/q_a/doc2.md index 6249e82..9704b1a 100644 --- a/source/common/q_a/doc2.md +++ b/source/common/q_a/doc2.md @@ -10,20 +10,29 @@ 5. AP1不受键盘控制、失控 6. 如何判断自己的建图质量 7. 如何建出高质量的地图/建图效果不佳/地图构建要点 +8. 建好的地图存放在哪里 +9. 我有多个环境,地图是否可以保存多个,不用每次重新建图 +10. 已构建好的地图文件是什么格式,如何对其进行修改 +11. (接上问)如果一定要手动修改地图,怎么办? ## 导航 1. 建图完毕后,点击开始导航就会报错 2. 初始化定位如何完成 3. 初始化定位一直没有成功,地图和真实环境不符是什么原因 -4. 导航过程中,机器人走的太慢,速度能再快点吗? -5. (接上问)我一定要提高速度,在哪里改参数? +4. 开始导航后,为什么车走的特别慢,完全走不动的样子 +5. 导航过程中,机器人走的太慢,速度能再快点吗? +6. (接上问)我一定要提高速度,在哪里改参数? +7. 导航时,如何调整机器人可通过的宽度/让机器人离障碍物可以更近一点 +8. 机器人导航到达这个目标点是以什么作为参考的呢?这个位置又是如何确定的呢? + + *** ## 建图导航-建图篇 -1.打开开始建图,RVIZ中只有一个白色的车,左侧 RobotModel 报错
+1. 打开开始建图,RVIZ中只有一个白色的车,左侧 RobotModel 报错
![](imgs/info3.jpg) @@ -32,7 +41,7 @@ *** -2.打开开始建图,RVIZ中只有一个黄色的车,左侧警告 No map receievd
+2. 打开开始建图,RVIZ中只有一个黄色的车,左侧警告 No map receievd
![](imgs/info4.jpg) @@ -53,14 +62,14 @@ *** -3.键盘控制AP1行走时,AP1动作异常,动一下停一下
+3. 键盘控制AP1行走时,AP1动作异常,动一下停一下
可调整显示器的位置,保持接收器不被遮挡,并调整自己的位置,使接收器可以接收到发送的指令信号,建议使用USB延长线或USB-HUB将接收器放置在架子的高处,无任何遮挡,便于信号传输。 *** -4.键盘控制,AP1一动不动
+4. 键盘控制,AP1一动不动
a) 确认已将AP1电源总开关打开,急停开关没有被按下,AP1处于上位机控制模式 @@ -83,14 +92,14 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 *** -5.AP1不受键盘控制、失控
+5. AP1不受键盘控制、失控
在开始建图前,需要禁用无线功能。如果没有禁用,AP1在连接了WIFI的状态下开始建图,在地图构建过程中,一旦AP1离开无线覆盖区域,无线连接断开,ROS的网络通信中断就会导致AP1控制失控。 *** -6.如何判断自己的建图质量
+6. 如何判断自己的建图质量
在构建完成的地图中,如很明显是障碍物(墙)的颜色是虚的,则不太好。 @@ -98,7 +107,7 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 *** -7.如何建出高质量的地图/建图效果不佳/地图构建要点
+7. 如何建出高质量的地图/建图效果不佳/地图构建要点
在构建地图的过程,以下几点会影响到建图的准确性: @@ -114,6 +123,61 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 * 当场景很大特征不足的时候,需要规划建图路径时,应先走一个小回环,当回环成功后,可以再多走几圈,消除粒子在这个回环的多样性。接下来走下一个回环,直到把整个地图连通成一个大的回环 +*** + +8. 建好的地图存放在哪里
+ +catkin_ws/src/launch/autolabor_navigation_launch/map + +*** + +9. 我有多个环境,地图是否可以保存多个,不用每次重新建图
+ +可以。所有成功保存的地图都会保存在: + +`catkin_ws/src/launch/autolabor_navigation_launch/map` + + +导航时使用的地图文件为`map.pbstream`,最后一次保存的地图会自动存储为`map.pbstream`,而过去建好的地图会用时间戳重命名,备份在同一路径下,备份地图的名称可以自定义。 + +![](imgs/info5.png) + +如果要切换地图,可以将现有地图重命名,将要替换的地图修改为`map.pbstream`,之后需要再次切换的时候,依然更换地图名称即可。 + + +*** + +10. 已构建好的地图文件是什么格式,如何对其进行修改
+ +SLAM 建图算法使用的是 Cartographer ,地图文件为 pbstream 格式。 + +pbstream 文件本质上是一个压缩的 protobuf 文件,其中包含 Cartographer 内部使用的数据结构的快照。 + +>Cartographer can serialize its internal state in a .pbstream file format which is essentially a compressed protobuf file containing a snapshot of the data structures used by Cartographer internally. + +由此可知,pbstream 与 ROS格式地图(.pgm+.yaml)不同,pbstream 不可修改编辑。 + +*** + +11. (接上问)如果一定要手动修改地图,怎么办?
+ +由上问可知 pbstream 是不可编辑的,但如果因为环境的原因,建图效果不是很好,一定要手动修改地图。 + +有2点要提前知晓: + +1. pbstream 格式只能向 ROS 格式地图(.pgm+.yaml)单向转换 +2. 导航中定位使用的是 Cartographer 定位,Cartographer 定位是只支持基于 pbstream 格式地图的 pure localization,不接受其他格式的地图。如果要修改地图,就要放弃 Cartographer 定位。 + +可参考的方案有: + +1. 使用 Cartographer 建图,得到 pbstream 文件,转换为ROS格式地图(.pgm+.yaml),手动修改后使用其他定位算法,如AMCL +2. 更换 Cartographer 为 gmapping,得到ROS格式地图(.pgm+.yaml),手动修改后使用其他定位算法,如AMCL + + +但 gmapping 没有回环检测,建图效果与 Cartographer 比有差距。 + +请按照各自的需求,来进行决策。 + ## 建图导航-导航篇 @@ -126,6 +190,7 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 catkin_ws\src\launch\autolabor_navigation_launch\map\map.pbstream 是否有 map.pbstream 文件存在,如果没有则没有成功保存地图。 + 2. 有地图存在,但文件大小较小(不到1MB) 地图文件不完整,没有正常保存地图。 @@ -150,7 +215,17 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 *** - + + +给定目标,开始导航后,要按【0】关闭键盘控制。 + +键盘未关闭,且又不进行任何控制时,键盘程序会一直向底层发送速度0指令。 + +接到目标点导航任务后,导航程序又一直向底层发布速度指令,2个程序同时发送速度,会导致底层走不动。 + +*** + + 可以,但机器人行走速度过快,实时雷达数据与环境地图匹配不佳会导致无法正确避障而撞到障碍物。 @@ -159,11 +234,11 @@ e) 请排查是否有多个键盘设备,键盘驱动查找的是最后一个 *** - + 修改以下文件: -catkin_ws\src\launch\autolabor_navigation_launch\two_laser_navigation_param\teb_local_planner_params.yaml +`catkin_ws\src\launch\autolabor_navigation_launch\two_laser_navigation_param\teb_local_planner_params.yaml` ``` max_vel_x: 0.2 //机器人的最大平移速度 @@ -177,3 +252,38 @@ max_vel_x: 0.8 max_vel_x_backwards: 0.6 max_vel_theta: 0.6 ``` + + + +修改以下文件: + +`/src/launch/autolabor_navigation_launch/two_laser_navigation_param/teb_local_planner_params.yaml` + +参考下图: + +![](imgs/info6.png) +![](imgs/info7.png) + + +修改以下3个参数: + +``` +line_start: [-0.3, 0.0] # for type "line" +line_end: [0.3, 0.0] # for type "line" +min_obstacle_dist:0.4 +``` + +具体的数值要按照修改期望与实际环境进行计算, +虚线圈越小,离障碍物就越近,可过的宽度越窄,但不建议修改太小。 + +*** + + + +在map坐标系下,机器人base_link坐标系原点,到达目标点位置,即视为到达目标点。 + +**Autolabor Pro1 base_link坐标系** + +以机器人四轮接触面为X-Y平面,四轮轴心连线的点做垂线,与x-y平面的交点为base_link坐标系原点,车头朝向方向为X轴,正左方向为Y轴,向上为Z轴。 + +![](imgs/info8.jpg) \ No newline at end of file diff --git a/source/common/q_a/doc3.md b/source/common/q_a/doc3.md new file mode 100644 index 0000000..9d80550 --- /dev/null +++ b/source/common/q_a/doc3.md @@ -0,0 +1,132 @@ +## 常见问题 - 定位巡迹 + + +### 定位标签 + +1. Dashboard 软件打开报错 +2. Dashboard 无法唤醒对应id的标签 +3. 唤醒标签后,标签会自动关闭吗 +4. 设备插上电脑后,电脑无法识别 +5. 路由连接电脑,Dashboard 软件打开后,无法找到路由 Not found modem connection to computer through USB. + + + + +## 巡迹 + +1. 录制轨迹保存的路径,是怎么存储的?存储在哪里? +2. 轨迹是否可以保存多个,如何选择不同的轨迹进行巡迹任务? +3. 如何调整机器人在巡迹时的速度 + + +*** + +## 定位巡迹-定位标签篇 + +1. Dashboard 软件打开报错
+ +Dashboard 软件由硬件方提供,在不同系统中兼容性有差异,经我方测试稳定性排名: Window XP > Window 7 > Window 10 + +推荐使用 WIN7/XP环境。 + +在 Window 10下有一定几率会出现错误弹窗(见下图),如出现该弹窗,点击abort,多次执行直至正常。 + + +![](imgs/info9.png) + + +*** + +2. Dashboard 无法唤醒对应id的标签
+ +1. 请检查标签电源是否打开 +2. 如标签距离路由过近,请稍微拿远后再次操作 +3. 如已通电,且有一定距离,仍无法唤醒,请将标签连接到电脑上,使用 Dashboard 进行检查(如下图) + + Channel:是否为 0,如不是则修改 + + Device address:是否与标签上贴的数字一致,如不是则修改 + + ![](imgs/info10.png) + + + +*** + +3. 唤醒标签后,标签会自动关闭吗
+ +当路由通电工作时不会,当路由断电1min后,所有标签会休眠。 + +*** + +4. 设备插上电脑后,电脑无法识别
+ +定位路由或定位标签(必须要打开电源),插上电脑会自动安装驱动,在设备管理器-端口中,能看到对应设备。 + +如插上后显示不能识别,端口下无设备,请检查数据线是否插紧,确定插紧后仍未识别: + +尝试手动安装驱动,[驱动下载地址](https://marvelmind.com/pics/stm32_vcp.zip)。 + +如手动安装后仍未能识别,请取2个设备,标签/路由,2根数据线,进行交叉测试。 + +判断是数据线,还是设备故障。 + +*** + +5. 路由连接电脑,Dashboard 软件打开后,无法找到路由 Not found modem connection to computer through USB.
+ +请检查在设备管理器-端口中,是否有设备。 + +无如设备,请参见第 4 条。 + +*** + + + +## 定位巡迹-巡迹篇 + + + +录制的轨迹,记录的是机器人在 map 坐标系中的坐标点,将这些坐标点写入到一个文本文件中,存放在 + +`catkin_ws/src/navigation/path_server/path_data` + +巡迹程序执行巡迹的时,读取文件名称为`default_path.path`的文件。 + + +*** + + + +可以,像建图一样,轨迹也会有重命名备份这一操作,在路径文件夹下会存储所有录制成功的轨迹文件。 + +如需选择不同的路径文件,需在使用的时候对其进行重命名为`default_path.path`,程序会自动载入。 + + +*** + + + +说明:机器人行走速度过快,会影响定位标签定位,影响巡迹效果。 + +修改以下文件: + +`src/launch/autolabor_navigation_launch/two_laser_tracking_param/teb_local_planner_params.yaml` + + +``` +max_vel_x: 0.2 //机器人的最大平移速度 +max_vel_x_backwards: 0.2//当向后移动时,机器人的最大绝对平移速度 +max_vel_theta: 0.2//机器人的最大旋转速度 +``` + +修改为 +``` +max_vel_x: 0.8 +max_vel_x_backwards: 0.6 +max_vel_theta: 0.6 +``` + +注:此建议参数为最高值,用户可根据实际使用情况进行调整。 + +*** diff --git a/source/common/q_a/doc4.md b/source/common/q_a/doc4.md new file mode 100644 index 0000000..e69de29 diff --git a/source/common/q_a/imgs/info10.png b/source/common/q_a/imgs/info10.png new file mode 100644 index 0000000000000000000000000000000000000000..97149bb6618825eba7862a1a075cbd2707e516d9 GIT binary patch literal 13503 zcmaibcRZW_zxJ()wiGQjO6f%HQq+vrYHQQlvsO`~_6Sj0YAdyBwe~8tccL~yYSmsT zVnxgtiR47Tzu$A7^SsV^&L6qCx$lq9yx!OQdSAk|G*m8Mx_$`&fXmOGD(V0L8HDtC zc7c-g6L&j-anctucO8`{K-nPs8tLY|-DCB~08kN2jklyA-CuNlYUmCCv>j(3vP3>w zHUN0|;+f*(7d~d_S@YLchMAn(S$3RH#Dx-Vy|DKbTJI%S8G(Es)4Zf>5pq*c7PVwV zI-FCO68`maiz?ZGzO+ZiQi=~8)Q*di@HNM zSa&NuT$5>!)i;dAHzf1kN^K+_OFrVrYNWEzan+)M2noZ6Kn!y0gOPG{-tkAc;6$+b zgpn2DRe-1`9c4W1sNnids>9)W4pk7c>}?-w!HLIM#b!;q?geMb69{dQgrx&NUNo5jsSriwQ#9n&sX<|BN8vlLM*Rspc=~K zxV%%ZGH`H2c^W1Eb~YW8B^gOPY`hlVen47m`i&{cg~xHtGV(8yi`Z!`ucJfaSr>4t zESD`iWQn=#GY?N=@GZlW3^+GL5_x^3@N_QiQT@cW~1N7N29j^ z!|+4xoYL-IW}I&`)N8Lrs-w}1_7MycJEqxKGMdEspk-?-4s<{psxoxU$N6Lf~PxfJO8y%qgmjMO+Wk46s$WYK3Q~LRDrgX_Q6qCTMIVuojU2fJw z3h%8C7qa}aj}-KVkg*T`Gr#!Pk%J{7?9FxuTV$2?9o-~_e)`g{zk1)9@>sAJ=ZRo@ zsD>@>OsKm)AA@__df w_E=DGurR<)h-Y7j^H)oPct$UlS@DpAejW0_a)SHWTw(oW zx?%TNlOmlG-N~(?lj}o2IkX+8O|lr`O{g+&q8%lN1<4<_eTbGEsj@Er0`@I|qF;=6 zz5_-!ViJaP#yxiS$pa#jF!T8d<$j8sGI^2Xv5M4bIlE{Eq%BY8W@nav&54IOYOycV z`H8sGQXpT-T~B``qDS~e3q$W%BAiXuDL}gNhIvwXr%@ k!FyRYaQjA`1`qA;US`((YZo99R+SpDbY&Oy3- zpSd63K#E<{58eH*{qeoayoS$Knpg&J+!Bj6=x^R#`JR76YvE*{1ET2ZpsSE|;erhR zLs9*L56qgquS3uE>fsYaoJT6{qs3F<@HJ_}Iy-EaFY8!(_*{$xT*5#tzQtKH@Q3D< zm3s?Q@=Y1?2bVmKW`EL;XwoItU9t*^#Lw*EJeX(?&M*D=)ybL&O8c1%rAV~uhbXev zEwcDcVSOe#H!C8|>KnO1-Oy0p{v7a|h^UGv_Rk_05b~o2u##=mfZ4(F_Z5Wehm9pZ zd_b2snbxDp2%_+0vr0iOTqy;f=Id{B$&nf|Sy&co-Tw-L+p-baRAriLKK^+>RzO0q zQc>OUX#_->l~|)$eIZQB)96i-y~NZXMEtbF?(%o8H&j%?5B7G+2F93Im2$V?i
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