學習草稿

1.gmapping建圖

map.yaml文件格式

image: testmap.png
resolution: 0.1
origin: [0.0, 0.0, 0.0] occupied_thresh: 0.65 free_thresh: 0.196 negate: 0

• image : Path to the image file containing the occupancy data; can be absolute, or relative to the location of the YAML file

• resolution : Resolution of the map, meters / pixel

• origin : The 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation). Many parts of the system currently ignore yaw.

• occupied_thresh : Pixels with occupancy probability greater than this threshold are considered completely occupied.

• free_thresh : Pixels with occupancy probability less than this threshold are considered completely free.

• negate : Whether the white/black free/occupied semantics should be reversed (interpretation of thresholds is unaffected)

2. robot_pose_ekf與amcl的關係：前者將encoder,imu融合獲得odom_combined與base_link的tf關係，給amcl使用
(robot_pose_ekf經過不一樣的源數據來估計機器人的pose，不作定位)
odom<---(encoder,imu--robot_pose_ekf)--->base_link
 map<-----------(laser--amcl)----------->base_link
robot_pose_ekf(tf:odom,imu-->base_link)-->amcl
map-->odom-->base_link

3. 叉車hector_gmapping 與 amcl的關係
hector_mapping 與 amcl的關係：(爲何叉車和AGV小車相比，非建圖時要啓動hector_mapping)
hector_mapping產生odom給amcl

 

4.歐拉角RPY：

歐拉角RPY分別表明Roll（滾轉角），Pitch（俯仰角），Yaw（偏航角），分別對應繞XYZ軸旋轉
旋轉的正方向是，從XYZ軸的箭頭方向看過去，順時針爲正，逆時針爲負。

 

5.替代關係：（預計2018-10開始使用ubuntu18.04）

gmapping ----> cartgraph

hector_mapping ----> cms?

robot_pose_ekf ----> robot_localization (base_footprint與odom的關係)

amcl ----> cms + fft

global_planner ----> ?