# Auto-explore

Auto-explore 示例使轮式机器人能够自动编译 2D 地图。

示例使用 RPLIDAR A3M1 获取周边障碍物边缘信息，使用局部地图确定潜在目标，并发布目标点消息以控制机器人完成建图。完成建图后机器人将返回设置的起点。

该图显示了 auto-explore 示例的 pipeline。

- 五个 ROS 节点构建完整的 `tf` 树：`map->odom->base_footprint->base_link->laser`。
- `auto-explore` 根据 `slam_gmapping` 给出的地图信息和 `rplidar` 给出的障碍物边缘信息设置目标点。
- 然后，`nav2_bringup` 规划路径并将速度和角度发送给机器人。

![../../_images/auto-explore-pipeline.png](data:image/png;base64,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iSEeMslrNEqt0PEgwrubBcEc8/cC8KF/eN9Two94cVKz+yLdXua3Aj1Cn0cQmIAKGrmnTyasUYAAAAAAApOG52ln/O1nxzQ+/0O4CdUwtzpSe0c+7OdN1ywSfTr0N1qlRINo0M78EptFnIsVeoym7lNXMD8yOQ9/mM4iVSRLW7Fl596cmRa1ws0nZxtuP2InP4lEkO5qhZGlAIBI9sXgLQoAAAAAAByH3fkXpfxQB/QfX7jxhOE2Q2DEtayHTJy9AMW8tKJQz8VcQx3Y0pBCqdMzS60avMu4JOJwQS3hDr9jMMHbNME4IQaiHtkKnHj2KtzJFRxccAbu3wAAAAAAKAhQ0RJeKJXticVTI6Eylqwhpjx28cDVayemkRwA7yVatGEMsXviXjSaoo1WMobTHr7PPE2Ewh3nnPcaNxpdDv1VBZDSNu77I/Vdmw83DIiQAwF8IkY4iP/03uhZEdoIfp7EGz0mUt1UFL8utIAAAAAAHK9TtqhWfAHglkMC0/dJwScmCt0CZE0PEPW1uGOhBb72eD5JaIp67sbb+vki+cWLpa8YC5AkXpqkrnByLW/zmFI7aRZsAm/fLEld8LVgSPqTYO2POFF/Vkqo+c0QXdtBNUAdlOgWXWGkh22wvKihNa2ZI7XyRlH9lsCbtli0ULe1DBxk31FkF5gGtQtm0MGPXfeu8UWYBrULZtDBiMm8Lv6pxgAe5MzHyppf17HEJxR9nmf3fUOeIF0kbsychSbsT+iq/rW5PfkFr3CZ+jb1R8lBirZSk5Td1tmYZ64/1Nj3BJK0XLT9cb419JA8YUo080Dm11x5vU9zGU9tYj2fqlhCfl1bzSbWjLWTQqTlXHS2AZa+PXWSxbhiNrKGhvUTLBkIipRF0wnnZYAAmpSgvt1I0ZYGOSmn2uNb6ZIQuyuAQNlcuJHa8QU8RcxI2AEn1vxY5mL7MkNzamR2JC6v9UUlz9tjoS6GoJ+GXYQe0O1AJmukJRXIeFNL+k3z4CbNJ5FpB+u+6PDuCRIOIA7VIMJVrF5X1zFwDZ+kDBe8yKdsEF8WFVYIqLzV17NOuJjK4qi+oBSzvdmXiMTCiLhPYf5qpcyDmvxZ/5A9OC27DuUCLnTh5VhuqGGQ8n7dKIv2PzZzI8ALZpGlBVxAM34dGS+2gBkDWT3vN5n3hUoetTozyhySDEpPq5cHEyk2aETpOIV/JLymEKxw/x3TKHkcVGBZAeneTIi85mYEl8nKKjY+ecwGNUcp9B29yu53AkvMWyeaOpF5a9nTW7lIuRuabwe3DDohZ5PS7W9bNQ7RyOO0OKcJ+v8tlwr1njiCjwxKElMr2npFlJBpRD5nZVAvdEjACOHIxhe8wsuEcGWJfOmJFEc7ZUq4gNjfwD9So2W9UvyDnkAFAw6Oef62qaCkaDE7n6H7B+PbT9Bwib3D4XfyQBK8DgmAW36J4vx1BiPpfD2AhE3a2ar2Ojrl+u0U+7CAWx1i9Q1/dhCxs2NIxgRWAAO825V8q/7djEC/3UN5lGkqKXfS+C0TP3FsyLPQKDOTem9I8YRAJUAybztCiOMvkFv0oDSHmqaAWBzkCW3RtA9ymlVzlFBi0w3AHEmiCbG0MQvTbHHpWhe6V5KhFubLYsO6/WnM3UCikyvlw/hn1oSnAIiWTeqaQoc5l8hUntjNFQLqb1YzzVVCrSpidxfgv78wSQ8/tduX1eHnx+tgdWiOZjEgj+VloidjcnHbqcnM5FaxcJ9Un5AiqDgdWO7PG2KERMIPrdzP0LDh6ZsZ2SmKP0a3GjtiKTSI6ie9LgCFpHUDzTq0t93ZgCrxfesLYU2DoDHJx8eJ9G3Seq5/8AHhM7+2K9tJTEFfuVFfuU89Q6HCxWofybIYk4L1sw9Vn7o5gH7lfvcq+2lNhZ2pCsFOJJ3/HxQouQQiXOaJV61f2FZv+YNw+ecj9zY/UAAG/wzbxPq/tB00iE/ZIvyu41K5eJNZiQbJYUeblVN3z/uIKRgq43hpWKFx5qo+XWS8nf9TUH/rpaNGkpiT7ZZz9HYgAjjZF4Yh2QvANzqjqGQxsNdB/zZaBpX9GiAArqDfoth5ssrUmGxFsSU9A9UADX9XRgfhoYzDAX69WDIBg0lX3cjkxNd5o7ZH52ANKRwQC4wAChXwT3EF1n8hKYr8ChCWIYsJMHBoKceB25ErFP/hpIrZawi2qMjoHx9SORT9kGXcYLCq/MVwpHeZooLxn1Uk7+9Zu/1yutOMSEorbRrOZjp0RFaGuu907Dgv6J3i9nreOXxAlCMv1pDhvoiXw/8pPuiyzHHEJA60KNat+rBjbI6h+5rGnvuVlPI8oDUr9vhE3p+fmQ2xUHg0Ab9EHiaNZOsGlDUaORfcagyX/dgXLGLKfcEv5HInoVmF/mESC79o/3/ueSs+D2iIAilZhcyOke5ZtdyAnuLAgU5S33nlLIPNam8kxCmC+S8M6dtxncmbfX4syEqYIimdKoYd000yHV7UnU/1n5OnvuU4ByXKbSzSgD4ghs5PHxOLSFN46PluuogKBgKtg6OowJC7RRwHlZKRguxND3vFqkSfLPMf5k0yRaYxfZtKhcpH/UMxoB/RDO+1u7qVhN9po6pa1fCQtHxpctmdhx/VAX+N0ygd6s3fnMe+WilupZLMLUf5KrLXIHU5aKH4WKQvpeeX+L/tVqdLKmI+4Kygw4eYy9av8tUdqNHFusVB5rlbYY0km9hh9bp62yqUMlSGiDESpczZs3vC9aNb+okKH3M346QnCSWU2XOs2I1vrH8FZDcCrZHBTwKoDcu+Kf0taPU95Nr+KdedgLqpW+4QtSdor+cMNfzzwv2CSSfHfwvTdB3MMZy6/PaH0f6nTeftkfIfSKtbryt5dv4nmuHDQ8g7KFzMJFgAeqhsYxEYFc+w7AIx8X4q4kVxPVdVKfm9jDXwTmeCeSonT98lOAYSB7uteCgdwPQAALN7Zx0/wy9jZh2nNhb5L6GcczKYBJPIwkwisYy+kBP2Ez4F3GniiDY0Grnj54Lfg0V8NNQvW2LaIzd6AEAb9xpkedSunC18KTi+uDIp7pWFetHji8JGBRoarzpCyZVFkQMWTBMxJjdLZnt4PIauyJIuLolD0V5fuam7u3CScvHHktfleCvNrW9vj/uEzuOch+u3PLx722JZmKRRQSmdmQShnd+xX401nxkI9D72+PO4vBl5HMyB2EjWIbuuUnHuPdSQYm0HXL1zth7s3XO4BKX99d04Kp0zEJKiZrzGWjRmsHrHnjOu0Melg1xw+ZRWOdauLBempNnThhIqM3tLfPENhE0qJVQSpOiI9WcWERbBu+EEDyeAKXoEkC4ts1EvOJFIlJJaeRVJ6TqQXPGOXLaf4hauyACV++5YmRBD4cOyAsKFvLbkRN5V+qwZHErvUj0jXqMoKgz04m4Ppk6cN/KQY3RjokvcfZg9Iou6LzALZxU1JGQYi7XvroupxWhVcHSgdOwY56kPpWTadzhgtqaEnAMj4PhyhkhPfQBpMwAHyw3cSkWAw/i1zjeqLIaUbfE6nTVaMzjCJOoQJr+7Xacd1KLkiny4vNcn6j5QL85rtTBFs3phrFYk2YVsfXm/Wt+hx7n2/4gZ4hSwxT99580zVs21twTtnLVEvTmZLCuLPLxFLqPF77wR8eBUoD3SZJge75KwUmEi86vdpkG5Zj9Pv2NWxq6Tn7qYob0se6qCMZxGeY82OWJSy3GpQALOhHeT75sL4oFj7w+fINr/JangADFXpLavmLjpnj1x83hZVA4E0e3+9LctMh55+Rw5xu8QIkA/W3ZfqSHd+tANZJjheNlOp++PShs/OjO38f60S6hF7e94NPYZKfY+DkiMqDpCu//xNLrmchQOL+/w6XCWGEO3AEHSFec7aA/z0r24h6A99CEAj/jcEfYrY7bdQn0yMaZtkH2sC0kZlqCNX7SgAcE80Z2H/vWerbLqhQk4H5w+8hR9E26LHGVsgYRx/FYfooidaBFe5QC794dkQm+2BApIJTFoMjUAntEqOpmu29tYVvIIKkMPynwSTw39gP/RCOKlxWzskbUhOOJOiKvKITznCOR+Z+5/GmyAAAAgnEzAeH3n7bLrb003Fjbt6xv00t4J1rvGgg2lCWaAh0SlDz+cdlLTqp00z303XxHQ1Y+sARFkYuNn5HR7zDTtTKfOBeDEd3yNV9BIwAuxQp3TLwwAAAAAjCAzqohv5EngC+EB43r9QH5Rb4pU8ddrXl4LPi6Wmx9+pIcDg8n00KFEWrTdSWrc4pdxFCV+hoP53W1OWAkpYpFskGx/660GjNrLPwUcpRR9FaBOWKyuGl6sGe3DcYZCwdgpO6bixrwniy2eJnOmhB1GHfxGiv5kwwMYZQO+Tw32BFuhWpyztxKNOxmTh5Bp/2phokZ7lzYAE98gRm21XnGpmeqVLqdPK98H084DkO1cvytbYP0r1CPJZYMtTy+J//0Qj3S5CNpqOthxoJ5v9zPAB1TEtcYkSZmXJa1GhgsTPNWcnhcHyyG9x2xqckN1mAqmsiAsX9hC8h32lKAU/vyC/dleo6kjbm7SFxJRD2lUmgf/4AAAAAEkLiSVQNh+z7o14BATAl2RBVHodtr/bxlxTlhVMRRSmt93XjKg3QbCR8RoiNXyoxX1MkhL3F8chqWGoeq6DEAy7U6mbiIHBnrmBPWVkbzQMGy5ge0iWbvmSI/SktHCGOBVB9DETHkylBV9iwcLLe4s4dBIxCPnajLPqVsHA4QlwVv6qrpNxgrkOSOfY6EpyPBA2y2mTCiYLIw75rwJa/bNIGzefLAvztm7tJr8DP9ie65Rayvr5n3/RxTHHT8sgR3itviyUVsVc8PXSPkBN4UUXeGa4U4t4n4gi5Tc0PUm5tf5d8f/8RjK0h60dMCeLACIdil7l7P/pHPmh8bGX8xnB1VRuV3qSJ8AN/kYHuj+uKubcwAYUfQiP4qW8akrOHgov6kk86T4nU3GkAAAAAX5C3RSSa7xNU6Txxz8181DgWN8LbShHQHs0L2cMOPkomdFGtfkZj2J+lkIoJ4+fWRqW3ILtms8zJFqeCnqRQbIL27xnKYQ3T+G5m7DlNlBqCe1B5JIojsp8////h+QpGiS4CCbJoy4Hom9Xcq5NdTIT2zcudCRNqvT7bnr/2+yZfIQjr4ijz5YpQujxFk5mr00pPg32sCEq85UQU0bK9BYy/FEfRhys5siu7Kg7nYrPrFWm5ZGujBte49qDezyyfed+m8DYQ89aeWJ1TsFJSg9kKNI/59IXc0PhANf8AmSSwlEG15ftfCNbwA7LOywBCY1JfkVuYUtSFOrirFXuMmIzgAAAAAKVG0L16JPD3yK3Yt82TpyXNaHuCavika4HYWfZcr+/ls8bEXmti1iSwAAC+Ot+F2+PwhCrKx2JGV/zSXE5M3FmrhIbtr1xQAAAAAAAAAAAAAJywQAAAAAAAAAAAAAAAAAA)

**图：Auto-explore pipeline**

有关 pipeline 流中使用的 ROS 节点和主题的信息，参见 [Auto-explore 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/auto-explore_5_3_5.html#pipeline-autoexplore)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写和安装](https://docs.qualcomm.com/doc/80-70017-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `SSH`。
- RPLIDAR A3M1 可用。
- 按照[生成并安装 slam-gmapping IPK](https://docs.qualcomm.com/doc/80-70017-265Y/topic/generate-and-install-slam-gmapping-ipks_5_1_2.html#generate-and-install-slam-gmapping-ipks-5-1-2) 中的步骤启用 slam-gmapping 功能。

**用例1：运行开箱即用的 auto-explore**

**步骤：**

该示例遵循以下节点序列。

qti-robot-amr-ctrl
    rplidar-ros2
    slam-gmapping
    nav2-bringup
    auto-explore
    rviz2
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1. 连接 RPLIDAR A3M1 并启动您的机器人。
2. 启动五个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。

    值范围为 `ROS_DOMAIN_ID`：[0, 232]。

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/home
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xx
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Note

在接下来的步骤 3 到 7 中，每一步都在此步骤中部署的单独终端窗口中运行。
3. 在终端 1 中，启动 `qti_robot_amr_ctrl` 节点。

(ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
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Note

将此步骤替换为您的机器人启动命令。
4. 在终端 2 中，启动 `rplidar_ros` 节点。

(ssh) ros2 launch rplidar_ros rplidar_a3_launch.py
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5. 在终端 3 中，启动 `slam_gmapping` 节点。

(ssh) source /usr/share/slam_gmapping/local_setup.bash
        (ssh) ros2 launch slam_gmapping slam_gmapping.launch.py
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6. 在终端 4 中，启动 `nav2_bringup` 节点。

(ssh) ros2 launch nav2_bringup navigation_launch.py 'use_sim_time:=false'
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7. 在终端 5 中，运行 `auto-explore`。

(ssh) cd /usr/lib/auto-explore
        (ssh) chmod 777 auto-explore
        (ssh) ./auto-explore
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    终端中显示以下日志。

    地图创建完成后，它会自动保存在设备上的路径 `/usr/share/auto-explore` 中。

![../../_images/auto-explore-log.png](data:image/png;base64,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)
8. 要在 Ubuntu PC 上的 Rviz2 中显示结果，执行以下配置。

    1. 按照[安装 Rviz2](https://docs.qualcomm.com/doc/80-70017-265Y/topic/install-rviz2_5_1_3.html#install-rviz2-5-1-3) 安装 Rviz2。
    2. 选择框架作为 `/map`。
    3. 按主题添加 `/map`、`/scan`、`/plan`、`/received_global_plan`、`goal_pose`。
    4. 按显示类型添加 `TF`、`Grid`。

![../../_images/auto-explore-rviz2.png](data:image/png;base64,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)

表：Auto-explore 的默认配置和输出文件

    | 文件 | 默认路径 | 说明 |
    | --- | --- | --- |
    | 配置文件 | /usr/share/auto-explore/Configuration/aeconfiguration.yaml<br>        Copy to clipboard | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">.yaml</span></code> 文件包含有关 auto-explore 算法的信息。</p></li><br></ul> |
    | 输出文件 | /usr/share/auto-explore/map.pgm<br>        Copy to clipboard | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">.pgm</span></code> 文件存储地图图像。</p></li><br></ul> |

**用例 2：构建并运行 auto-explore**

**步骤：**

1. 在主机上，编译 QIRP SDK 提供的 `auto-explore`。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/nodes/navigation/auto-explore
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `auto-explore` 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/nodes/navigation/auto-explore/install/auto-explore
        tar czvf auto-explore.tar.gz lib share
        scp auto-explore.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) tar -zxf /opt/auto-explore.tar.gz -C /usr/
        Copy to clipboard
3. 参考[用例 1：运行开箱即用的 auto-explore](https://docs.qualcomm.com/doc/80-70017-265Y/topic/auto-explore_5_3_5.html#caseone-autoexplore)，在设备上运行 `auto-explore`。

## Auto-explore 的 pipeline 流

表：Auto-explore pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| qti-robot-amr-ctrl<br>    Copy to clipboard | 订阅 `/cmd_vel` ROS 主题，发布 `tf` 树：“`odom->base_footprint->base_link->laser`”。 |
| rplidar-ros2<br>    Copy to clipboard | 发布 `/scan` ROS 主题。 |
| slam-gmapping<br>    Copy to clipboard | 发布 `/map` ROS 主题和 `tf` 树：“`map->odom`”，订阅 `/scan` ROS 主题。 |
| nav2-bringup<br>    Copy to clipboard | <ul class="simple"><br><li><p>根据订阅的 <code class="docutils literal notranslate"><span class="pre">/goal_pose</span></code> ROS 主题执行路径规划。</p></li><br><li><p>将 <code class="docutils literal notranslate"><span class="pre">/cmd_vel</span></code> ROS 主题发布到机器人。</p></li><br></ul> |

表：Auto-explore pipeline 中使用的 ROS 主题

| ROS 主题 | Type | 说明 |
| --- | --- | --- |
| /goal_pose<br>    Copy to clipboard | <geometry_msgs::msg::PoseStamped><br>    Copy to clipboard | 由 auto-explore 节点发布，并由 `nav2-bringup` 节点订阅。 |
| /scan<br>    Copy to clipboard | <sensor_msgs::msg::LaserScan><br>    Copy to clipboard | 由 `rplidar-ros2` 节点发布，由 `slam-gmapping` 节点订阅。 |
| /map<br>    Copy to clipboard | <nav_msgs::msg::OccupancyGrid><br>    Copy to clipboard | 由 `slam-gmapping` 节点发布，由 `auto-explore` 节点订阅。 |
| /odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由您的机器人启动节点发布。 |
| /cmd_vel<br>    Copy to clipboard | <geometry_msgs::msg::Twist><br>    Copy to clipboard | 由 `nav2-bringup` 节点发布，并由您的机器人启动节点订阅。 |

## 局限性

- 在 auto-mapping 时，狭窄区域的间隙必须是机器人直径的两倍以上。否则机器人无法通过。
- Slam-gmapping IPK 必须在您的主机上编译，然后手动推送到设备。

Last Published: Jan 24, 2025

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