# Nav2-bringup

nav2-bringup ROS 示例应用程序支持 ROS2 导航框架和系统。它提供感知、规划、控制、定位、可视化等功能，帮助编译高度可靠的自主系统。

该示例完成了这些任务：用传感器数据进行环境建模、动态路径规划、计算电机速度、避障、表示语义区域和对象，以及编译更高层次的机器人行为。该示例支持点对点和按路径导航。

图中显示了 `nav2-bringup` 的 pipeline。

- 五个 ROS 节点编译完整的 `tf` 树：`map->odom->base_footprint->base_link->laser`。
- 导航时，`nav2-bringup` 订阅 `slam_gmapping` 给出的地图信息和 `rplidar` 给出的障碍物边缘信息。
- 然后，`nav2-bringup` 通过 `/goal_pose` 在 Rviz2 中的设置规划路径，最后将速度和角度发送给机器人。

![../../_images/nav2-bringup-pipeline.png](data:image/png;base64,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)

**图：Nav2-bringup pipeline**

关于 pipeline 流中使用的 ROS 节点和主题的信息，请参阅 [nav2-bringup 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/nav2-bringup_5_2_1.html#id-sec-nav2-bringup)。

## 用例 ：运行开箱即用的 nav2-bringup

**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)中的步骤在 “Permissive” 模式下启用 `SSH`。
- RPLIDAR A3M1 可用。
- 按照[生成并安装 slam-gmapping IPKs](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。

该示例遵循以下节点序列。

qti-robot-amr-ctrl
    rplidar-ros2
    slam-gmapping
    nav2-bringup
    Copy to clipboard

**步骤：**

1. 连接 RPLIDAR A3M1 并启动您的机器人。
2. 在设备上启动四个终端，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
        Copy to clipboard

Note

在接下来的步骤 3 到 6 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`。

(ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
        Copy to clipboard

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
        Copy to clipboard
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
        Copy to clipboard
6. 在终端 4 中，启动 `nav2_bringup` 节点。

(ssh) ros2 launch nav2_bringup navigation_launch.py 'use_sim_time:=false'
        Copy to clipboard

## Nav2-bringup 的 pipeline 流

表：Nav2-bringup pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| qti_robot_amr_ctrl<br>    Copy to clipboard | <ul class="simple"><br><li><p>订阅 <code class="docutils literal notranslate"><span class="pre">/cmd_vel</span></code> ROS 主题</p></li><br><li><p>发布 <code class="docutils literal notranslate"><span class="pre">tf</span></code> 树：&quot;<code class="docutils literal notranslate"><span class="pre">odom-&gt;base_footprint-&gt;base_link-&gt;laser</span></code>&quot;</p></li><br><li><p>根据收到的主题消息驱动机器人移动</p></li><br></ul> |
| rplidar_ros<br>    Copy to clipboard | 发布 `/scan` ROS 主题。 |
| slam_gmapping<br>    Copy to clipboard | <ul class="simple"><br><li><p>发布 <code class="docutils literal notranslate"><span class="pre">/map</span></code> ROS 主题和 <code class="docutils literal notranslate"><span class="pre">tf</span></code> 树：“<code class="docutils literal notranslate"><span class="pre">map-&gt;odom</span></code>”</p></li><br><li><p>订阅 <code class="docutils literal notranslate"><span class="pre">/scan</span></code> ROS 主题</p></li><br></ul> |

表：nav2-bringup 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 `nav2-bringup` 节点发布。 |
| /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，并由 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。 |

Last Published: Jan 24, 2025

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