From 57e85d33d6df1073944b051062c9c051ce443e1c Mon Sep 17 00:00:00 2001
From: doubleTing <835497784@qq.com>
Date: Thu, 28 Oct 2021 17:07:12 +0800
Subject: [PATCH] update
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
2d SLAM 3DSLAM 多点导航修改
---
source/conf.json | 13 +-
.../user_guide/quick_start/2d_slam_doc.md | 127 +++++++++++++++
.../user_guide/quick_start/3d_slam_doc.md | 150 ++++++++++++++++++
.../user_guide/quick_start/imgs/3d_slam1.png | Bin 0 -> 278658 bytes
.../user_guide/quick_start/imgs/3d_slam2.png | Bin 0 -> 329415 bytes
.../user_guide/quick_start/imgs/3d_slam3.png | Bin 0 -> 266651 bytes
.../user_guide/quick_start/imgs/3d_slam4.png | Bin 0 -> 179632 bytes
.../user_guide/quick_start/imgs/3d_slam5.png | Bin 0 -> 181020 bytes
.../user_guide/quick_start/imgs/3d_slam6.png | Bin 0 -> 259939 bytes
.../user_guide/quick_start/imgs/3d_slam7.png | Bin 0 -> 551495 bytes
.../user_guide/quick_start/imgs/3d_slam8.gif | Bin 0 -> 791935 bytes
.../quick_start/imgs/key_control.png | Bin 0 -> 62765 bytes
.../user_guide/quick_start/multi_slam_doc.md | 119 ++++++++------
13 files changed, 361 insertions(+), 48 deletions(-)
create mode 100644 source/version_two/user_guide/quick_start/2d_slam_doc.md
create mode 100644 source/version_two/user_guide/quick_start/3d_slam_doc.md
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam1.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam2.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam3.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam4.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam5.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam6.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam7.png
create mode 100644 source/version_two/user_guide/quick_start/imgs/3d_slam8.gif
create mode 100644 source/version_two/user_guide/quick_start/imgs/key_control.png
diff --git a/source/conf.json b/source/conf.json
index 50dc8f8..2913035 100644
--- a/source/conf.json
+++ b/source/conf.json
@@ -99,10 +99,19 @@
"items": [
{
"name": "快速上手",
- "uri": "version_two/user_guide/quick_start/slam_doc"
+ "items": [
+ {
+ "name": "2D SLAM",
+ "uri": "version_two/user_guide/quick_start/2d_slam_doc"
+ },
+ {
+ "name": "3D SLAM",
+ "uri": "version_two/user_guide/quick_start/3d_slam_doc"
+ }
+ ]
},
{
- "name": "SLAM 多点导航功能包",
+ "name": "SLAM 多点导航",
"uri": "version_two/user_guide/quick_start/multi_slam_doc"
}
]
diff --git a/source/version_two/user_guide/quick_start/2d_slam_doc.md b/source/version_two/user_guide/quick_start/2d_slam_doc.md
new file mode 100644
index 0000000..010bb5b
--- /dev/null
+++ b/source/version_two/user_guide/quick_start/2d_slam_doc.md
@@ -0,0 +1,127 @@
+# 建图导航
+
+## 适用系统版本
+
+AutolaborOS-2.2.3
+
+准备工作：
+1. AP1 导航机器人
+2. 键盘鼠标
+
+## 操作步骤
+
+### 一、连接键鼠
+鼠标键盘建议使用普通成套的无线键鼠，避免使用机械键盘、游戏鼠标，请不要同时使用有线、无线鼠标或键盘。
+
+### 二、启动系统
+打开电源，打开工控机，等待 Autolabor OS 系统启动，输入密码 autolabor，字母全部是小写，回车。
+
+
+
+### 三、建图导航
+
+
+#### 准备工作：
+1. 将 AP1 控制模式切换到上位机控制，右转打开急停开关，确保急停开关没有被按下
+2. 禁用工控机无线功能
+ 在建图过程中，如果工控机连接了无线网络，当AP1走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。
+3. 进入桌面 SLAM建图导航 - > 2d 文件夹，首次使用时文件如下图，双击打开后点击 trust and launch，程序第一次打开后会重命名。
+
+ 
+
+ 
+
+
+#### 1. 点击【开始建图】
+
+
+RVIZ工具打开，能够看到地图中的 AP1。
+
+使用键盘的上下左右控制 AP1 行走，边走边建图，可以看到环境地图随着 AP1 的行走不断被构建更新。
+
+地图中，红色是前置激光雷达实时数据，黄色是后置激光雷达实时数据，颜色从白至黑为障碍物的几率是0%~100%。
+
+
+
+
+##### 键盘控制说明
+
+键盘控制功能在系统中已经安装好，无需安装可直接使用。
+
+有2种键盘控制的方式：
+
+一、直接在电脑上插上键鼠，直接控制机器人（默认模式）
+
+数字键【1/2】线速度增加/减少，数字键【3/4】角速度增加/减少，数字键【9】启用，数字键【0】禁用。
+
+二、使用键盘插件，用另一台电脑远程控制机器人
+
+
+
+如使用该插件，则需将机器人上的键鼠拔掉，否则远程给出的速度指令会被机器人上的键鼠指令覆盖，如插上了不使用键鼠控制，程序默认向底盘发送速度指令为0，机器人会停止不动。
+
+如想远程操控机器人，请查看[这里]()。
+
+
+#### 2. 建图完毕，点击【保存并停止建图】
+
+
+最终建图结果示意：
+
+
+
+完成建图后，一定要点击【保存并停止建图】关闭窗口，不能直接关闭RVIZ窗口或者关闭终端，否则地图文件无法正确保存，导航时会报错。
+
+地图文件存储
+路径为catkin_ws\src\launch\autolabor_navigation_launch\map
+
+2D SLAM 地图文件：
+
+```
+map.pbstream: 地图文件，用于定位导航，不可修改
+```
+
+如有多个环境，想保存不同的地图，在不同的环境使用：
+1. 最后一次成功保存的地图会自动存储为以上的名称，而过去建好的地图会用时间戳重命名，备份在同一路径下，地图的名称可以自定义。
+2. 如果要切换地图，可以将现有地图重命名，将要替换的地图文件分别修改为以上文件的名称，之后需要再次切换的时候，依然更换地图名称即可。
+
+注：如修改文件名，请务必保证名称正确无误。
+
+#### 3. 点击【开始导航】
+RVIZ工具打开，建好的地图会自动加载。
+
+
+
+
+##### 初始化定位
+
+使用键盘控制机器人行走一段距离，当激光雷达的数据与实时的环境匹配成功时，即为机器人找到在地图中的初始定位。
+
+如果将机器人放置在建图的出发点，会能够帮助机器人加速初始化定位，但此步骤不是必须的。
+
+
+
+如上图所示，进行初始化定位操作后，机器人突然跳到了一个新地点，并且地图中的地点与真实环境中机器人位置一致，即为初始化成功，可进行下一步操作。
+
+##### 关闭键盘控制
+
+点击数字键【0】关闭键盘控制功能（非小键盘0），控制方式将切换至导航程序控制，如不切换机器人接收到目标点命令后将不会自动导航行走。
+
+##### 给定目标点
+
+点击 2D Nav Goal，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。
+
+目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1 向目标点行走。
+
+当AP1已经到达目标点后，再一次使 2D Nav Goal 设置目标位置，AP1将去到下一个目标点。
+
+
+
+
+
+### 四、点击【终止导航】，停止导航功能，导航结束。
+
+之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。
+
+
+[>>常见问题](/usedoc/navigationKit2/common/q_a/doc2)
diff --git a/source/version_two/user_guide/quick_start/3d_slam_doc.md b/source/version_two/user_guide/quick_start/3d_slam_doc.md
new file mode 100644
index 0000000..404e5fb
--- /dev/null
+++ b/source/version_two/user_guide/quick_start/3d_slam_doc.md
@@ -0,0 +1,150 @@
+# 建图导航
+
+## 适用系统版本
+
+AutolaborOS-2.2.3
+
+准备工作：
+1. AP1 导航机器人
+2. 键盘鼠标
+
+## 操作步骤
+
+### 一、连接键鼠
+鼠标键盘建议使用普通成套的无线键鼠，避免使用机械键盘、游戏鼠标，请不要同时使用有线、无线鼠标或键盘。
+
+### 二、启动系统
+打开电源，打开工控机，等待 Autolabor OS 系统启动，输入密码 autolabor，字母全部是小写，回车。
+
+
+
+### 三、建图导航
+
+
+#### 准备工作：
+1. 将 AP1 控制模式切换到上位机控制，右转打开急停开关，确保急停开关没有被按下
+2. 禁用工控机无线功能
+ 在建图过程中，如果工控机连接了无线网络，当AP1走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。
+3. 进入桌面 SLAM建图导航 - > 3d 文件夹，首次使用时文件如下图，双击打开后点击 trust and launch，程序第一次打开后会重命名。
+
+ 
+
+ 
+
+
+#### 1. 点击【开始建图】
+
+
+RVIZ工具打开，能够看到地图中的 AP1。
+
+使用键盘的上下左右控制 AP1 行走，边走边建图，可以看到环境地图随着 AP1 的行走不断被构建更新。
+
+地图中，黑色是障碍物，白色是可行走区域，彩色的激光点是激光雷达实时数据，颜色从白至黑为障碍物的几率是0%~100%。
+
+
+
+
+##### 键盘控制说明
+
+键盘控制功能在系统中已经安装好，无需安装可直接使用。
+
+有2种键盘控制的方式：
+
+一、直接在电脑上插上键鼠，直接控制机器人（默认模式）
+
+数字键【1/2】线速度增加/减少，数字键【3/4】角速度增加/减少，数字键【9】启用，数字键【0】禁用。
+
+二、使用键盘插件，用另一台电脑远程控制机器人
+
+
+
+如使用该插件，则需将机器人上的键鼠拔掉，否则远程给出的速度指令会被机器人上的键鼠指令覆盖，如插上了不使用键鼠控制，程序默认向底盘发送速度指令为0，机器人会停止不动。
+
+如想远程操控机器人，请查看[这里]()。
+
+
+#### 2. 建图完毕，点击【保存并停止建图】
+
+最终建图结果示意：
+
+
+
+
+完成建图后，一定要点击【保存并停止建图】关闭窗口，不能直接关闭RVIZ窗口或者关闭终端，否则地图文件无法正确保存，导航时会报错。
+
+地图文件存储
+路径为catkin_ws\src\launch\autolabor_navigation_launch\map
+
+3D SLAM 地图文件：
+
+```
+map.pbstream: 地图文件，用于定位，不可修改
+map_3d.pgm：地图文件，用于导航，可修改
+map_3d.yaml ： pgm 文件的解释文件
+```
+
+如有多个环境，想保存不同的地图，在不同的环境使用：
+1. 最后一次成功保存的地图会自动存储为以上的名称，而过去建好的地图会用时间戳重命名，备份在同一路径下，地图的名称可以自定义。
+2. 如果要切换地图，可以将现有地图重命名，将要替换的地图文件分别修改为以上文件的名称，之后需要再次切换的时候，依然更换地图名称即可。
+
+注：如修改文件名，请务必保证名称正确无误。
+
+#### 3. 修地图
+
+
+注：此步骤非必须操作，如建图结果与真实环境基本一致，可跳至下一步。
+
+建图完成后，对照真实的建图环境，对地图进行修改，涂抹掉临时障碍物，增加真实环境中实际存在的障碍物，也可以自定义机器人的行走区域。
+
+为避免修改错误无法返回，建议在修改前对要文件做一个备份。
+
+右键点击map_3d.pgm，选择Krita软件打开，选择画笔工具，白色涂掉障碍物，黑色可以新增障碍物、自定义机器人的可行走区域。
+
+
+
+
+
+地图修改完毕后，保存关闭。
+
+
+#### 4. 点击【开始导航】
+RVIZ工具打开，建好的地图会自动加载。
+
+
+
+
+
+##### 初始化定位
+
+导航之前，要对机器人做初始化定位，设置方式有两种：
+
+一、使用键盘控制小车走到初始建图位置，注意车头、车尾方向与之前基本保持一致；
+
+二、使用2D Pose Estimate，点击 2D Pose Estimate（2D nav goal左边），根据机器人现在的所在位置，对比地图，找到机器人在地图中大概的位置，根据真实车头的朝向，方向指向车头朝向的方向，拉动鼠标。
+
+设置后控制机器人行走一段距离，当激光雷达的数据与实时的环境匹配成功时，即为机器人找到在地图中的初始定位。
+
+
+
+如上图所示，进行初始化定位操作后，机器人突然跳到了一个新地点，并且地图中的地点与真实环境中机器人位置一致，即为初始化成功，可进行下一步操作。
+
+##### 关闭键盘控制
+
+点击数字键【0】关闭键盘控制功能（非小键盘0），或取消键盘插件的【激活键盘控制】，关闭后控制方式将切换至导航程序，如不切换机器人接收到目标点命令后将不会自动导航行走。
+
+##### 给定目标点
+
+点击 2D Nav Goal，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。
+
+目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1 向目标点行走。
+
+当AP1已经到达目标点后，再一次使 2D Nav Goal 设置目标位置，AP1将去到下一个目标点。
+
+
+
+### 四、点击【终止导航】，停止导航功能，导航结束。
+
+之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。
+
+
+[>>常见问题](/usedoc/navigationKit2/common/q_a/doc2)
diff --git a/source/version_two/user_guide/quick_start/imgs/3d_slam1.png b/source/version_two/user_guide/quick_start/imgs/3d_slam1.png
new file mode 100644
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