Turtlebot(Kuboki)+Kinect+Huyoko建立gmapping地图，实现自主避障导航

这篇文章主要介绍如何使用Turtlebot(Kuboki) + Kinect + Hokuyo建立gmapping地图，并且实现边建图编导航，最后使用ros map命令保存生成的地图。

设备清单：

1、Turtlebot(Kuboki)

2、Microsoft Kinect 1代

3、Hokuyo UTM-30LX

环境配置：

这里假设你已经在Turtlebot的工作本上安装了Ubuntu 14.04 + ROS Indigo，我也是用的这个环境，如果还没有安装，参考ROS Indigo的wiki：Ubuntu install of ROS Indigo。

安装Turtlebot的驱动：

sudo apt-get updatesudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs如果你的底盘是kuboki，那么再多加两条：
sudo apt-get install ros-indigo-kobuki ros-indigo-kobuki-corerosrun kobuki_ftdi create_udev_rules接下来需要安装kinect驱动，推荐使用freenect：
sudo apt-get install libfreenect-devsudo apt-get install ros-indigo-freenect-launch
设置你的3D sensor为kinect，设置完需要关闭当前窗口，打开新的terminal使之生效。
echo "export TURTLEBOT_3D_SENSOR=kinect" >> .bashrc
下载雷达驱动包和导航包，并编译：
mkdir -p  ~/turtlebot_ws/srccd   ~/turtlebot_ws/srcgit clone https://github.com/ncnynl/hokuyo_node.gitgit clone https://github.com/turtlebot/turtlebot_apps cd  ~/turtlebot_wscatkin_make在~/.bashrc最后一行添加（可以使用命令 sudo vi ~/.bashrc, vi的使用方法得自己百度了）：
source /home/ubu/turtlebot_ws/devel/setup.bash
使刚才的修改生效：
source ~/.bashrc下面需要配置你的激光雷达Hokuyo，运行命令：
lsusb找到一条类似于这个的反馈结果：
Bus 001 Device 006: ID 15d1:0000新建/etc/udev/rules.d/hokuyo.rules文件，内容如下：
KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0000", GROUP="dialout", SYMLINK+="hokuyo"增加当前用户对串口的默认访问权限：
sudo usermod -a -G dialout 用户名使UDEV配置生效：（使串口的默认访问权限生效，需要重启机器）
sudo service udev reloadsudo service udev restart创建launch文件：复制hokuyo_node的hokuyo_test.launch到hokuyo_laser.launch，并增加TF定义
roscd turtlebot_navigationmkdir -p laser/driversudo cp ~/turtlebot_ws/src/hokuyo_node/hokuyo_test.launch laser/driver/hokuyo_laser.launch打开hokuyo_laser.launch，并修改
rosed turtlebot_navigation hokuyo_laser.launch内容如下：
<launch>  <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">  <!-- Starts up faster, but timestamps will be inaccurate. -->   <param name="calibrate_time" type="bool" value="false"/>   <!-- Set the port to connect to here -->  <param name="port" type="string" value="/dev/hokuyo"/>   <param name="frame_id"  type="string" value="laser"/>  <param name="intensity" type="bool" value="false"/>  </node>  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_link laser 100"/></launch>增加hokuyo_gmapping_demo.launch文件，用于启动gmapping.
roscd  turtlebot_navigationtouch  launch/hokuyo_gmapping_demo.launchrosed  launch/hokuyo_gmapping_demo.launch内容如下：
<launch>  <!-- 3D sensor -->  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_PRo -->  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">    <arg name="rgb_processing" value="false" />    <arg name="depth_registration" value="false" />    <arg name="depth_processing" value="false" />        <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".         Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->     <arg name="scan_topic" value="/scan" />  </include>  <!-- Define laser type-->  <arg name="laser_type" default="hokuyo" />  <!-- laser driver -->  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />  <!-- Gmapping -->  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg laser_type)_gmapping.launch.xml"/>  <include file="$(arg custom_gmapping_launch_file)"/>  <!-- Move base -->  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/></launch>增加hokuyo_gmapping.launch.xml文件，执行gmapping建图
roscd  turtlebot_navigationtouch  launch/includes/gmapping/hokuyo_gmapping.launch.xml rosed  launch/includes/gmapping/hokuyo_gmapping.launch.xml 输入内容：
<launch>  <arg name="scan_topic"  default="scan" />  <arg name="base_frame"  default="base_footprint"/>  <arg name="odom_frame"  default="odom"/>  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">    <param name="base_frame" value="$(arg base_frame)"/>    <param name="odom_frame" value="$(arg odom_frame)"/>    <param name="map_update_interval" value="5.0"/>    <param name="maxUrange" value="6.0"/>    <param name="maxRange" value="8.0"/>    <param name="sigma" value="0.05"/>    <param name="kernelSize" value="1"/>    <param name="lstep" value="0.05"/>    <param name="astep" value="0.05"/>    <param name="iterations" value="5"/>    <param name="lsigma" value="0.075"/>    <param name="ogain" value="3.0"/>    <param name="lskip" value="0"/>    <param name="minimumScore" value="200"/>    <param name="srr" value="0.01"/>    <param name="srt" value="0.02"/>    <param name="str" value="0.01"/>    <param name="stt" value="0.02"/>    <param name="linearUpdate" value="0.5"/>    <param name="angularUpdate" value="0.436"/>    <param name="temporalUpdate" value="-1.0"/>    <param name="resampleThreshold" value="0.5"/>    <param name="particles" value="80"/>  <!--    <param name="xmin" value="-50.0"/>    <param name="ymin" value="-50.0"/>    <param name="xmax" value="50.0"/>    <param name="ymax" value="50.0"/>  make the starting size small for the benefit of the Android client's memory...  -->    <param name="xmin" value="-1.0"/>    <param name="ymin" value="-1.0"/>    <param name="xmax" value="1.0"/>    <param name="ymax" value="1.0"/>    <param name="delta" value="0.05"/>    <param name="llsamplerange" value="0.01"/>    <param name="llsamplestep" value="0.01"/>    <param name="lasamplerange" value="0.005"/>    <param name="lasamplestep" value="0.005"/>    <remap from="scan" to="$(arg scan_topic)"/>  </node></launch>测试激光雷达gmapping构建地图与导航唤醒Turtlebot底盘
roslaunch turtlebot_bringup minimal.launch启动gmapping
roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch打开rviz查看地图
roslaunch turtlebot_rviz_launchers view_navigation.launch点击rviz的2D Navigation按钮，在建好的地图上左键单击并拖动，Turtlebot会自己进行导航，这时如果你突然出现在Turtlebot前面，它会重新规划路线饶过你或者可以键盘控制Turtlebot建图
roslaunch turtlebot_teleop keyboard_teleop.launch 保存地图
mkdir -p ~/maprosrun map_server map_saver -f ~/map/hokuyo_gmappingls ~/map   #查看内容，包含hokuyo_gmapping.pgm  hokuyo_gmapping.yaml建立的实验室平面图
References
http://wiki.ros.org/kobuki/Tutorials/Installation
http://wiki.ros.org/indigo/Installation/Ubuntu
http://www.ncnynl.com/archives/201611/1097.html
http://www.ncnynl.com/archives/201609/794.html