机器人工程毕业设计☞开源学习（扫地）

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sudo apt install ros-noetic-turtlebot3 ros-noetic-navigation ros-noetic-dwa-local-planner ros-noetic-slam-karto

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roslaunch clean_robot auto_slam.launch

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<?xml version="1.0"?>
<launch>

  <!-- <arg name="slam_methods" default="karto" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/> -->
  <arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="open_rviz" default="true"/>
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>
  <!-- 启动仿真环境 -->
  <include file="$(find clean_robot)/launch/gazebo.launch"/>

  <!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
  <include file="$(find turtlebot3_slam)/launch/turtlebot3_karto.launch">
    <arg name="model" value="$(arg model)"/>
    <arg name="configuration_basename" value="$(arg configuration_basename)"/>
  </include>

  <!-- 启动 rviz 的标签 -->
  <group if="$(arg open_rviz)">
    <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find clean_robot)/rviz/turtlebot3_karto.rviz"/>
  </group>
  <!-- 通过导航来实现自动建图 -->
  <include file="$(find clean_robot)/launch/move_base.launch">
  <arg name="model" value="$(arg model)" />
  </include>
    <!-- 自动探索 -->
  <node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
  <param name="robot_base_frame" value="base_link"/>
  <param name="costmap_topic" value="map"/>
  <param name="costmap_updates_topic" value="map_updates"/>
  <param name="visualize" value="true"/>
  <param name="planner_frequency" value="0.33"/>
  <param name="progress_timeout" value="50.0"/>
  <param name="potential_scale" value="3.0"/>
  <param name="orientation_scale" value="0.0"/>
  <param name="gain_scale" value="1.0"/>
  <param name="transform_tolerance" value="0.3"/>
  <param name="min_frontier_size" value="0.6"/>
</node>
<!-- 键盘操作 -->
  <!-- <node pkg="turtlebot3_teleop" type="turtlebot3_teleop_key" name="turtlebot3_teleop_key" launch-prefix="xterm -e" output="screen"/> -->

</launch>

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roslaunch clean_robot clean_work.launch

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<?xml version="1.0"?>
<launch>
    <arg name="model" value="burger" doc="model type [burger, waffle, waffle_pi]"/>
    <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
    <arg name="open_rviz" default="true"/>
    <!-- 启动仿真环境 -->
    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
        <arg name="model" value="$(arg model)" />
    </include>
    <include file="$(find clean_robot)/launch/gazebo.launch"/>
    <!-- 启动导航系统，用作目标点路径规划，实现躲避小障碍物-->
    <include file="$(find clean_robot)/launch/turtlebot3_navigation.launch">
        <arg name="model" value="$(arg model)" />
    </include>
    <!-- 清扫路径规划器 -->
    <node pkg="clean_robot" type="path_planning_node" respawn="false" name="path_planning_node" output="screen" clear_params="true">
        <rosparam file="$(find clean_robot)/config/costmap_common_params.yaml" command="load" ns="cleaning_costmap" />
        <rosparam file="$(find clean_robot)/config/cleaning_costmap_params.yaml" command="load" />
    </node>
    <!-- 根据清扫的路径向导航系统发送目标点位 -->
    <!-- 设定距离当前目标点多进时候发布下一个目标点 -->
    <param name="/NextGoal/tolerance_goal" value="0.25" />
    <node pkg="clean_robot" type="next_goal" respawn="true" name="next_goal" output="screen" />
</launch>