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xiaoqiang tutorial (15) AMCL navigation test



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    AMCL Navigation Test

    The following will demonstrate the AMCL navigation operation using rplidar a2 as the scan input and the map file created in Tutorial 14 as the global map.

    1 preparations

    Install and upgrade nav_test, laser_filters package first.

    1.1 ssh login Xiaoqiang host and cd to Xiaoqiang’s ros workspace

    ssh xiaoqiang@192.168.xxx.xxx -X
    cd Documents/ros/src/
    

    1.2 Update upgrade package

    cd  laser_filters
    git stash
    git pull
    cd ..
    cd nav_test
    git stash
    git pull
    cd ..
    cd ..
    catkin_make
    

    1.3 Update the Xiaoqiang hosts file and the hosts file of the local virtual machine so that Xiaoqiang and the local virtual machine can communicate with each other. Refer to sections 1.A and 1.B in Tutorial 13.

    2.Start navigation node

    First, copy the two map files created in Tutorial 14 to /home/xiaoqiang/Documents/ros/src/nav_test/maps/, overwrite the files with the same name.

    roslaunch nav_test xiaoqiang_a2_demo_amcl.launch
    

    Normally there will be similar results in the figure below, while the lidar starts to rotate

    0_1536825991853_fb92303f-93a5-4113-939b-25f241ab9ecd-image.png

    3 Start rviz

    3.1 Start rviz in the local virtual, select the open nav_test/config/xiaoqiang_amcl.rviz configuration file in the work directory of Xiaoqiang ros

    export ROS_MASTER_URI=http://xiaoqiang-desktop:11311
    rviz
    

    0_1536826048262_7a753361-bb5c-4413-982f-b2bb4c837a57-image.png

    3.2 After waiting for a few seconds, rviz will normally have a screen similar to the one below.

    0_1536826063652_cfb11d5c-96df-4a00-801a-4f7961f51731-image.png

    4.Start navigation test

    4.1 In rviz, use 2D Pose Estimation to set the position of the initial pose of the robot in the map. Because the AMCL algorithm needs a more accurate initial value, the actual position of the robot in the map can be further matched by the current liadr scanning dot matrix.

    0_1536826092369_30c30fe7-0b3a-49f0-82d2-e5f92be2a403-image.png

    4.2 Using 2D Nav Goal in rviz to release targets to Xiaoqiang

    0_1536826109005_ba58a846-149e-4a10-876f-7fe5bc9ce7ee-image.png

    4.3 Xiaoqiang began to move autonomously to the designated location

    0_1536826127455_88eb034a-872d-444f-a659-e8327af071ab-image.png

    5. Set up Xiaoqiang’s 2D Nav Goal and observe the movement of Xiaoqiang.

    0_1536826146545_36321626-275a-4881-a00e-f1154a227599-image.png

    0_1536826157825_39512988-2bdf-46ea-85d3-a8aea2fdaa92-image.png

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