我是靠谱客的博主 长情皮皮虾，这篇文章主要介绍ROS进阶学习手记 10 - 搭建自己的TurtleBot（2）- Using iRobot Roomba as the Driving BaseROS进阶学习手记 10 - 搭建自己的TurtleBot（2）- Using iRobot Roomba as the Driving Base，现在分享给大家，希望可以做个参考。
ROS进阶学习手记 10 - 搭建自己的TurtleBot（2）- Using iRobot Roomba as the Driving Base
使用iRobot Roomba 5xx/6xx/7xx作为turtlebot的驱动底盘 
要略过的一些内容：
参考《ROS by Example _ Hydro _ Vol1》书中所述，实现到“7.5 Sending Twist Messages to a Real Robot”
中间的过程就按书中来进行即可。涉及到的比如设备驱动、ROS网络配置 等内容可参考本博客前的相关文章。
要在这里讨论的问题：
在 roslaunch rbx1_bringup turtlebot_minimal_create.launch 这个命令运行时，PC（my_robot1）可以接收cmd_vel消息，并通过串口驱动 Create2® 。 这里调用的顺序是什么？启动了哪些nodes? 参数是如何设置的？
我们运行了-v 选项的 roslaunch 命令以后，得到如下的状态打印：一行行来分析【见文末附录1：turtlebot_minimal_create.launch文件的执行记录分析】
这里面主要的操作就是2个：
- 1. 设置node运行前需要设置的参数parameters
- 2. 运行nodes
关于.launch 文件们
turtlebot_minimal_create.launch 这个launch文件是我们驱动iRobot_Roomba底盘时首先要运行的，显然是很重要的，看看它的层次结构：
1. 标签
首先我们熟悉一下launch文件的tags-标签们：
- <arg name="base" default="create"/>
这是一个argument标签，表示声明一个参数，后面name指定了参数名为“base”, default指定了它的默认值"create" - <param name="/use_sim_time" value="$(arg simulation)"/>
这是一个ros_parameter标签，即ROS程序运行时需要输入的参数，后面name指定了参数名为“/use_sim_time”, value指定了它的赋值，此地是调用前面 arg name="simulation" 的argument的值 采用了$ 符号。 - <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
引用Include标签，意思引用外部的launch文件或xml文件。 $(find package_name)这里是一个调用ROS外部包的写法，意思robot.launch.xml文件是在turtlebot_bringup这个ROSpackage下面的。ps:是不是很简单？但是在</include>之前还有很多arg标签，这个是专门为所引xml文件配置参数的用法。
- <node pkg="create_node" type="turtlebot_node.py" name="turtlebot_node" respawn="true" args="--respawnable">
node标签，节点标签，这个可能是在某个xml文件中有用到，也很常用。比如tb_create_mobile_base.xml文件里，开了create_node 这个包下的 turtlebot_node这个节点。并为它配置了一些属性（respawn-重新生成） ，及参数（如：<param name="sensor_timeout" value="1.0"/>），还有remap参数，即重映射参数标签 - <remap from="cmd_vel" to="mobile_base/commands/velocity" />
remap parameter重映射参数标签，就是重新映射一下node运行时的参数名，比如A node发布了 topic_a 但 B_node的代码里写的是subcribe到topic_A, 此时就要把topic_a重映射成topic_A ,以便让B_node能够听到那个topic上的message.
- 别的就涉及到时自己google咯~~
2. 调用关系
这里我逐层来分析launch 文件：
【turtlebot_minimal_create.launch】
- 配了一堆参数args，指定了base, battery, stacks, 3d_sensor, simulation;
声明一个参数/use_sim_time
- 引用了一个外部xml文件：【/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml】并为它配了参数
- 配了一堆参数
- 又引用了一堆xml文件：$(find turtlebot_bringup)/launch/includes/description.launch.xml
- 这里面主要是涉及到对机器人外观的解释-urdf的一些操作，关于urdf需要读者以后自行去学习ROS wiki，暂时不展开。
- 除此之外，还配了关于robot_name/robot_type 等的参数，涉及到启动俩nodes: robot_state_publisher&diagnostic_aggregator
- 具体可以搜它们的功能，还涉及到yaml配置文件里配了很多与这俩节点有关的参数，后面会慢慢学到yaml的用法。
引用了一个外部xml文件：【/home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/includes/tb_create_mobile_base.launch.xml】并为它配了参数
- 一来就启动了一个重要的node: node pkg="create_node" type="turtlebot_node.py" name="turtlebot_node"
- 就是它负责调用create_driver这个驱动程序（后面会学到），负责和驱动程序通信，也和上层那些功能nodes通信，承上启下的作用。
很重要。
- 又来启动一个node: <node pkg="create_node" type="kinect_breaker_enabler.py" name="kinect_breaker_enabler"/>
- 引用orangeheadlxm的评论：
kinect_breaker_enabler.py里是写了一个客户端，其对应的服务器写在了turtlebot_node.py里。它们的作用是当irobot通过SCI和上位机连接上时，把irobot设置为full模式，若未连接上则返回错误并且客户端继续向服务器请求。把response = service_proxy(3)中的3改为1或2还可以把irobot设置成其他模式。
- 又来启动一个node:<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
- 这是关于robot_pose_ekf包的内容，自行wiki，主要意思是使用odometry + gyroSensor的数据来估计机器人的位置。
- refer: http://wiki.ros.org/robot_pose_ekf
- When you're using ROOMBA rather than the CREATE as the moving base of your turtlebot, you need to read this wiki before adding your own gyro sensor.
也很重要！- 又来启动一个node:<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
- 这是nodelet包下的内容，这里不展开，主要用于 velocity commands multiplexer
- 与它平行还启动了一个node：<node pkg="nodelet" type="nodelet" name="cmd_vel_mux"，这里不展开，主要用于 velocity commands multiplexer
- 与上一个node平行还启动了一个node：<node pkg="nodelet" type="nodelet" name="cmd_vel_mux"，
- 这里不展开，主要用于 velocity commands multiplexer
- bla..
blabla..
引用了一个外部xml文件：【/opt/ros/hydro/share/turtlebot_bringup/launch/includes/netbook.launch.xml】并为它配了参数
- 配了有关电池的参数，我想是用来管理电源的
- 引用了一个外部xml文件：【/opt/ros/hydro/share/turtlebot_bringup/launch/includes/netbook.launch.xml】
- 配了一个参数arg name="battery"
- 启动一个node:<node pkg="linux_hardware" type="laptop_battery.py" name="turtlebot_laptop_battery">,配了相关参数，这里就不展开了。
至此，我们就细看完了 tb_create_mobile_base.launch.xml 这个文件， 一个驱动、一个odometry estimator配置，一个velocity commands multiplexer选择器。
具体的讨论见附录2：关于turtlebot_minimal_create.launch 文件运行详解:
完成了底盘驱动，我们有几个问题没有解决：
- 驱动速度是否按照命令输入的进行？ -- 速度驱动校准，参见附录3： tb_create_mobile_base.launch.xml文件的修改（添加速度校准参数）
- 由于我们采用的ROOMBA而不是IRobot_Create1, 所以没有了gyro_Sensor 数据用于 ekf 的位置估计，ROS利用roomba底盘马达上自带的码盘进行了位置估计，参见odometry相关wiki。我们希望能添加extra gyro sensor, 具体见ros 社区的讨论：http://answers.ros.org/question/221866/how-to-add-extra-gyro-sensor-for-roomba/
- square 驱动实验，看能否准确。参见ros_by_example_hydro_vol1: 7.9 Navigating a Square using Odometry
至此，我们就分析完了turtlebot_minimal_create.launch 文件~~
--Edited by Sonictl @ csdn blog
on July 3rd, 2016
附录1：turtlebot_minimal_create.launch文件的执行记录分析】
复制代码
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160$ roslaunch -v rbx1_bringup turtlebot_minimal_create.launch ... logging to /home/exbot/.ros/log/d0c59c34-8dba-11e5-a599-a021b74eea2b/roslaunch-my_robot1-10296.log //这是加载日志文件 Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. ... loading XML file [/opt/ros/hydro/etc/ros/roscore.xml] //第一个加载的xml文件，是运行roscore, 略过。 ... executing command param [rosversion roslaunch] Added parameter [/rosversion] ... executing command param [rosversion -d] Added parameter [/rosdistro] // 前面这几行都是获取 ROS 的版本 = hydro Added core node of type [rosout/rosout] in namespace [/] ... loading XML file [/home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/turtlebot_minimal_create.launch] //1.从这里开始加载launch文件了 Added parameter [/use_sim_time] //上一个文件的第8行“<param name="/use_sim_time" value="$(arg simulation)"/>”，开始设置参数值。 ... loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml] // 2.加载robot.launch.xml 文件 ... loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/description.launch.xml] // 3.加载description.launch.xml文件 ... executing command param [/opt/ros/hydro/share/xacro/xacro.py '/opt/ros/hydro/share/turtlebot_description/robots/create_circles_kinect.urdf.xacro'] Added parameter [/robot_description] ... done importing include file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/description.launch.xml] Added parameter [/robot/name] //来自：【loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml]】 Added parameter [/robot/type] //来自：【loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml]】 Added parameter [/robot_state_publisher/publish_frequency] Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/] //在【launch/includes/robot.launch.xml】文件中启动node:[robot_state_publisher] Added parameter [/diagnostic_aggregator/analyzers/digital_io/path] //【载入pkg=diagnostic_aggregator nodename=diagnostic_aggregator,载入参数文件/opt/ros/hydro/share/turtlebot_bringup/param/create/diagnostics.yaml】 Added parameter [/diagnostic_aggregator/analyzers/digital_io/type]//1【参数文件中path,type,timeout,startswitch】 Added parameter [/diagnostic_aggregator/analyzers/digital_io/timeout] Added parameter [/diagnostic_aggregator/analyzers/digital_io/startswith] Added parameter [/diagnostic_aggregator/analyzers/sensors/path] //2【参数文件中path,type,timeout,startswitch】 Added parameter [/diagnostic_aggregator/analyzers/sensors/type] Added parameter [/diagnostic_aggregator/analyzers/sensors/timeout] Added parameter [/diagnostic_aggregator/analyzers/sensors/startswith] Added parameter [/diagnostic_aggregator/analyzers/nodes/path] //3【参数文件中path,type,timeout,CONTAINS】 Added parameter [/diagnostic_aggregator/analyzers/nodes/contains] Added parameter [/diagnostic_aggregator/analyzers/nodes/type] Added parameter [/diagnostic_aggregator/analyzers/nodes/timeout] Added parameter [/diagnostic_aggregator/analyzers/power/path] //4【参数文件中path,type,timeout,startswitch】 Added parameter [/diagnostic_aggregator/analyzers/power/type] Added parameter [/diagnostic_aggregator/analyzers/power/timeout] Added parameter [/diagnostic_aggregator/analyzers/power/startswith] Added parameter [/diagnostic_aggregator/analyzers/mode/path] //5【参数文件中path,type,timeout,startswitch】 Added parameter [/diagnostic_aggregator/analyzers/mode/type] Added parameter [/diagnostic_aggregator/analyzers/mode/timeout] Added parameter [/diagnostic_aggregator/analyzers/mode/startswith] Added parameter [/diagnostic_aggregator/pub_rate] //6【参数文件中pub_rate,base_path,timeout,CONTAINS】 Added parameter [/diagnostic_aggregator/base_path] Added node of type [diagnostic_aggregator/aggregator_node] in namespace [/] //相关参数载入完成，在【launch/includes/robot.launch.xml】文件中启动node:[diagnostic_aggregator] ... done importing include file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml] //完成：【loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml]】完成载入 //进入：【loading XML file [/home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/includes/tb_create_mobile_base.launch.xml]】 ... loading XML file [/home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/includes/tb_create_mobile_base.launch.xml] Added parameter [/turtlebot_node/bonus] Added parameter [/turtlebot_node/update_rate] Added parameter [/turtlebot_node/port] Added node of type [create_node/turtlebot_node.py] in namespace [/] //相关参数载入完成，在【tb_create_mobile_base.launch.xml】文件中启动node:[create_node/turtlebot_node.py] Added node of type [create_node/kinect_breaker_enabler.py] in namespace [/] // 载入 node: kinect_breaker_enabler.py Added parameter [/robot_pose_ekf/freq] Added parameter [/robot_pose_ekf/sensor_timeout] Added parameter [/robot_pose_ekf/publish_tf] Added parameter [/robot_pose_ekf/odom_used] Added parameter [/robot_pose_ekf/imu_used] Added parameter [/robot_pose_ekf/vo_used] Added parameter [/robot_pose_ekf/output_frame] Added node of type [robot_pose_ekf/robot_pose_ekf] in namespace [/] //【载入node】: pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" Added node of type [nodelet/nodelet] in namespace [/] //【载入node】//node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager" Added parameter [/cmd_vel_mux/yaml_cfg_file] //[param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"] //# Configuration for subscribers to multiple cmd_vel sources. //filepath: /opt/ros/hydro/share/turtlebot_bringup/param/mux.yaml Added node of type [nodelet/nodelet] in namespace [/] //【载入node】pkg="nodelet" type="nodelet" name="cmd_vel_mux" ... done importing include file [/home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/includes/tb_create_mobile_base.launch.xml] ... loading XML file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/netbook.launch.xml] //【进入[netbook.launch.xml]文件】 Added parameter [/turtlebot_laptop_battery/acpi_path] Added node of type [linux_hardware/laptop_battery.py] in namespace [/] //【载入node】pkg="linux_hardware" type="laptop_battery.py" name="turtlebot_laptop_battery" ... done importing include file [/opt/ros/hydro/share/turtlebot_bringup/launch/includes/netbook.launch.xml] started roslaunch server http://my_robot1:58659/ SUMMARY ======== PARAMETERS * /cmd_vel_mux/yaml_cfg_file * /diagnostic_aggregator/analyzers/digital_io/path * /diagnostic_aggregator/analyzers/digital_io/startswith * /diagnostic_aggregator/analyzers/digital_io/timeout * /diagnostic_aggregator/analyzers/digital_io/type * /diagnostic_aggregator/analyzers/mode/path * /diagnostic_aggregator/analyzers/mode/startswith * /diagnostic_aggregator/analyzers/mode/timeout * /diagnostic_aggregator/analyzers/mode/type * /diagnostic_aggregator/analyzers/nodes/contains * /diagnostic_aggregator/analyzers/nodes/path * /diagnostic_aggregator/analyzers/nodes/timeout * /diagnostic_aggregator/analyzers/nodes/type * /diagnostic_aggregator/analyzers/power/path * /diagnostic_aggregator/analyzers/power/startswith * /diagnostic_aggregator/analyzers/power/timeout * /diagnostic_aggregator/analyzers/power/type * /diagnostic_aggregator/analyzers/sensors/path * /diagnostic_aggregator/analyzers/sensors/startswith * /diagnostic_aggregator/analyzers/sensors/timeout * /diagnostic_aggregator/analyzers/sensors/type * /diagnostic_aggregator/base_path * /diagnostic_aggregator/pub_rate * /robot/name * /robot/type * /robot_description * /robot_pose_ekf/freq * /robot_pose_ekf/imu_used * /robot_pose_ekf/odom_used * /robot_pose_ekf/output_frame * /robot_pose_ekf/publish_tf * /robot_pose_ekf/sensor_timeout * /robot_pose_ekf/vo_used * /robot_state_publisher/publish_frequency * /rosdistro * /rosversion * /turtlebot_laptop_battery/acpi_path * /turtlebot_node/bonus * /turtlebot_node/port * /turtlebot_node/update_rate * /use_sim_time NODES / cmd_vel_mux (nodelet/nodelet) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) kinect_breaker_enabler (create_node/kinect_breaker_enabler.py) mobile_base_nodelet_manager (nodelet/nodelet) robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) robot_state_publisher (robot_state_publisher/robot_state_publisher) turtlebot_laptop_battery (linux_hardware/laptop_battery.py) turtlebot_node (create_node/turtlebot_node.py) auto-starting new master process[master]: started with pid [10313] ROS_MASTER_URI=http://my_robot1:11311 setting /run_id to d0c59c34-8dba-11e5-a599-a021b74eea2b process[rosout-1]: started with pid [10326] started core service [/rosout] process[robot_state_publisher-2]: started with pid [10339] process[diagnostic_aggregator-3]: started with pid [10360] process[turtlebot_node-4]: started with pid [10379] process[kinect_breaker_enabler-5]: started with pid [10443] process[robot_pose_ekf-6]: started with pid [10447] process[mobile_base_nodelet_manager-7]: started with pid [10487] process[cmd_vel_mux-8]: started with pid [10508] process[turtlebot_laptop_battery-9]: started with pid [10541]
附录2： 关于turtlebot_minimal_create.launch 文件运行详解
从roslaunch -v 的状态打印来看，系统主要做了两方面的工作：
- Added parameter. Generated by <param name="" value=""/>
- executing command param. Generated by <param name="" command="$(arg arg_name)"/>
- loading XML file
- added node of type [xx] in namespace
先看Add parameter, 这是由.launch文件或者.xml 文件中 <param name="" value="" /> tag attributed.
We also see <arg name="" default="" /> Tag.
Q:What's the difference between parameter and argrement?
Let's see the Stackflow, it says:
=============
A Parameter is a variable in the declaration of a function:
functionName(parameter) {
// do something
}
An Argument is the actual value of this variable that gets passed to the function:
functionName(argument);
=============
I modified the turtlebot_minimal_create.launch file and saved it as turtlebot_minimal_create_me.launch
Let's see the turtlebot_minimal_create_me.launch File line by line below:
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Conclusion: This launch file defined 1 argument "simulation", 3 args "base","stacks","3d_sensor" for robot description, 1 arg "battery" for netbook.xml as battery monitor.(I didn't use netbook.) , Called three .launch.xml files to finish work:
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25<launch> <arg name="simulation" default="$(optenv TURTLEBOT_SIMULATION false)"/><!-- For param "/use_sim_time" --> <!--Next three lines are for .../launch/includes/robot.launch.xml--> <arg name="base" default="roomba"/> <!-- create, roomba, kobuki --> <arg name="stacks" default="circles"/> <!-- circles, hexagons --> <arg name="3d_sensor" default="asus_xtion_pro"/> <!-- kinect, asus_xtion_pro --> <!--Next line is for .../launch/includes/netbook.launch.xml--> <arg name="battery" default="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> <!-- /proc/acpi/battery/BAT0 --> <param name="/use_sim_time" value="$(arg simulation)"/> <!--Added parameter /use_sim_time--> <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml"> <arg name="base" value="$(arg base)" /> <!--Plugged in three arguments:base; stacks; 3d_sensor--> <arg name="stacks" value="$(arg stacks)" /> <arg name="3d_sensor" value="$(arg 3d_sensor)" /> </include> <!--Below: Turtlebot Driver/ breaker1for kinect/ odometry estimator/ vel_com_multiplexer--> <include file="$(find rbx1_bringup)/launch/includes/tb_create_mobile_base.launch.xml" /> <!--Netbook battery monitor--> <include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml"> <arg name="battery" value="$(arg battery)" /> </include> </launch>
- /opt/ros/hydro/share/turtlebot_bringup/launch/includes/robot.launch.xml
- /home/exbot/catkin_ws/src/rbx1/rbx1_bringup/launch/includes/tb_create_mobile_base.launch.xml
- /opt/ros/hydro/share/turtlebot_bringup/launch/includes/netbook.launch.xml
I'll first look into the 2nd, tb_create_mobile_base.launch.xml to set the parameters as my turtlebot's real situation. And see how it works.
tb_create_mobile_base.launch.xml
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第一部分：
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36<launch> <!-- Turtlebot Driver --> <node pkg="create_node" type="turtlebot_node.py" name="turtlebot_node" respawn="true" args="--respawnable"> <param name="bonus" value="false" /> <param name="update_rate" value="30.0" /> <param name="port" value="/dev/ttyUSB0" /> <remap from="cmd_vel" to="mobile_base/commands/velocity" /> <remap from="turtlebot_node/sensor_state" to="mobile_base/sensors/core" /> <remap from="imu/data" to="mobile_base/sensors/imu_data" /> <remap from="imu/raw" to="mobile_base/sensors/imu_data_raw" /> </node> <!-- Enable breaker 1 for the kinect --> <node pkg="create_node" type="kinect_breaker_enabler.py" name="kinect_breaker_enabler"/> <!-- The odometry estimator --> <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> <remap from="imu_data" to="mobile_base/sensors/imu_data"/> <remap from="robot_pose_ekf/odom" to="odom_combined"/> <param name="freq" value="10.0"/> <param name="sensor_timeout" value="1.0"/> <param name="publish_tf" value="true"/> <param name="odom_used" value="true"/> <param name="imu_used" value="true"/> <param name="vo_used" value="false"/> <param name="output_frame" value="odom"/> </node> <!-- velocity commands multiplexer --> <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/> <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"> <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/> <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/> <remap from="cmd_vel_mux/input/navi" to="cmd_vel"/> </node> </launch>
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这里先为node = turtlebot_node.py 定义了三个parameter: bonus/ update_rate/ port , 然后 remap 了4个消息名。最后启动 turtlebot_node.py ，实际是个底盘驱动。
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10<!-- Turtlebot Driver --> <node pkg="create_node" type="turtlebot_node.py" name="turtlebot_node" respawn="true" args="--respawnable"> <param name="bonus" value="false" /> <param name="update_rate" value="30.0" /> <param name="port" value="/dev/ttyUSB0" /> <remap from="cmd_vel" to="mobile_base/commands/velocity" /> <remap from="turtlebot_node/sensor_state" to="mobile_base/sensors/core" /> <remap from="imu/data" to="mobile_base/sensors/imu_data" /> <remap from="imu/raw" to="mobile_base/sensors/imu_data_raw" /> </node>
第二部分：
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查一下 kinect_breaker_enabler.py 是个什么东东？
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2<!-- Enable breaker 1 for the kinect --> <node pkg="create_node" type="kinect_breaker_enabler.py" name="kinect_breaker_enabler"/>
进入到 kinect_breaker_enabler.py 代码里面发现是 Set_to_full_Mode ，看来是个设置底板模式的功能。别的涉及到proxy, server啥的，看不懂。~_~
2016年5月6日17:05:39补充一大牛的回复：orangeheadlxm：
- kinect_breaker_enabler.py里是写了一个客户端，其对应的服务器写在了turtlebot_node.py里。它们的作用是当irobot通过SCI和上位机连接上时，把irobot设置为full模式，若未连接上则返回错误并且客户端继续向服务器请求。把response = service_proxy(3)中的3改为1或2还可以把irobot设置成其他模式。
第三部分：
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这里要根据我的情况修改几个参数设置了。我没有IMU的 ekf 功能，没有搭载 accelerometer,
也不知道怎么搭载。所以就把某些值设为false.再保存到tb_create_mobile_base.launch_me.xml 中
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12<!-- The odometry estimator --> <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> <remap from="imu_data" to="mobile_base/sensors/imu_data"/> <remap from="robot_pose_ekf/odom" to="odom_combined"/> <param name="freq" value="10.0"/> <param name="sensor_timeout" value="1.0"/> <param name="publish_tf" value="true"/> <param name="odom_used" value="true"/> <!-- Sonictl Set as false --> <param name="imu_used" value="true"/> <!-- Sonictl Set as false --> <param name="vo_used" value="false"/> <param name="output_frame" value="odom"/> </node>
第四部分：
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这一部分是 多cmd_vel消息来了时候，进行multiplexer多路转换器，的功能。 这里先设置了一个parameter: yaml_cfg_file配置文件，设置到【/opt/ros/hydro/share/turtlebot_bringup/param/mux.yaml】，然后开了俩node：nodelet/mobile_base_nodelet_manager & nodelet/cmd_vel_mux , 都分别带了参数args.
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8<!-- velocity commands multiplexer --> <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/> <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager"> <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/> <!-- filepath: /opt/ros/hydro/share/turtlebot_bringup/param/mux.yaml --> <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/> <remap from="cmd_vel_mux/input/navi" to="cmd_vel"/> </node>
最后是remap 了俩消息。
来看看yaml的配置文件：
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可见是设置了三个源的优先级。文件开头也写了： Configuration for subscribers to multiple cmd_vel sources.
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24# Created on: Oct 29, 2012 # Author: jorge # Configuration for subscribers to multiple cmd_vel sources. # # Individual subscriber configuration: # name: Source name # topic: The topic that provides cmd_vel messages # timeout: Time in seconds without incoming messages to consider this topic inactive # priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT # short_desc: Short description (optional) subscribers: - name: "Safe reactive controller" topic: "input/safety_controller" timeout: 0.2 priority: 10 - name: "Teleoperation" topic: "input/teleop" timeout: 1.0 priority: 7 - name: "Navigation" topic: "input/navi" timeout: 1.0 priority: 5
至此，我们就细看完了 tb_create_mobile_base.launch.xml 这个文件，一个驱动、一个odometry estimator配置，一个velocity commands multiplexer选择器。
完成了驱动，我们有几个问题没有解决：
- 驱动速度是否按照命令输入的进行？ -- 速度驱动校准
- 没有了 ekf 的位置估计，如何利用Create底盘马达上自带的码盘进行位置估计？
- square 驱动实验，看能否准确。
附录3： tb_create_mobile_base.launch.xml文件的修改（添加速度校准参数）
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6<!--Sonic add these parameters below: --> <param name="has_gyro" value="true" /> <param name="turtlebot_node/odom_angular_scale_correction" value="1.03"/> <param name="turtlebot_node/odom_linear_scale_correction" value="1.0"/> <param name="robot_type" value="roomba"/> <!--"create" or "roomba" 这里很重要！！--> <!--Sonic add these parameters above. -->
最后
以上就是长情皮皮虾最近收集整理的关于ROS进阶学习手记 10 - 搭建自己的TurtleBot（2）- Using iRobot Roomba as the Driving BaseROS进阶学习手记 10 - 搭建自己的TurtleBot（2）- Using iRobot Roomba as the Driving Base的全部内容，更多相关ROS进阶学习手记内容请搜索靠谱客的其他文章。
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