teb教程7

融合自定义的障碍物

简介：本部分讲解怎样考虑其他节点发布的多边形的障碍物。

1.在一些应用当中，可能不想依赖于代价地图或者想添加其他的除了点状的障碍物。你可以发送你自己的障碍物列表到teb_local_planner包里面，通过指定话题/obstacles.

下面的消息类型costmap_converter/ObstacleArrayMsg是costmap_converter包的一部分。说明了以下障碍物的类型：

点状障碍物：提供了单个顶点的几何形状；

圆圈障碍物：提供了单个顶点且非零半径的几何形状；

线障碍物：提供了两个顶点的几何形状；

多边形障碍物：提供了不只2个顶点的多边形；

2.写一个简单的障碍物发不器

创建一个简单的python节点类发不一些障碍物；对于规划部分，会运行test_optim_node节点。如下publish_obstacles.py

   1 #!/usr/bin/env python
   2 import rospy, math
   3 from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg
   4 from geometry_msgs.msg import PolygonStamped, Point32
   5 
   6 def publish_obstacle_msg():
   7   rospy.init_node("test_obstacle_msg")
   8 
   9   pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1)
  10 
  11   obstacle_msg = ObstacleArrayMsg() 
  12   obstacle_msg.header.stamp = rospy.Time.now()
  13   obstacle_msg.header.frame_id = "odom" # CHANGE HERE: odom/map
  14   
  15   # Add point obstacle
  16   obstacle_msg.obstacles.append(ObstacleMsg())
  17   obstacle_msg.obstacles[0].id = 0
  18   obstacle_msg.obstacles[0].polygon.points = [Point32()]
  19   obstacle_msg.obstacles[0].polygon.points[0].x = 1.5
  20   obstacle_msg.obstacles[0].polygon.points[0].y = 0
  21   obstacle_msg.obstacles[0].polygon.points[0].z = 0
  22 
  23   # Add line obstacle
  24   obstacle_msg.obstacles.append(ObstacleMsg())
  25   obstacle_msg.obstacles[1].id = 1
  26   line_start = Point32()
  27   line_start.x = -2.5
  28   line_start.y = 0.5
  29   line_end = Point32()
  30   line_end.x = -2.5
  31   line_end.y = 2
  32   obstacle_msg.obstacles[1].polygon.points = [line_start, line_end]
  33   
  34   # Add polygon obstacle
  35   obstacle_msg.obstacles.append(ObstacleMsg())
  36   obstacle_msg.obstacles[1].id = 2
  37   v1 = Point32()
  38   v1.x = -1
  39   v1.y = -1
  40   v2 = Point32()
  41   v2.x = -0.5
  42   v2.y = -1.5
  43   v3 = Point32()
  44   v3.x = 0
  45   v3.y = -1
  46   obstacle_msg.obstacles[2].polygon.points = [v1, v2, v3]
  47 
  48   r = rospy.Rate(10) # 10hz
  49   t = 0.0
  50   while not rospy.is_shutdown():
  51     
  52     # Vary y component of the point obstacle
  53     obstacle_msg.obstacles[0].polygon.points[0].y = 1*math.sin(t)
  54     t = t + 0.1
  55     
  56     pub.publish(obstacle_msg)
  57     
  58     r.sleep()
  59 
  60 if __name__ == '__main__': 
  61   try:
  62     publish_obstacle_msg()
  63   except rospy.ROSInterruptException:
  64     pass

如何运行：

roslaunch teb_local_planner test_optim_node.launch
roslaunch mypublisher publish_obstacles.py

相关参数：

在规划中，与自定义障碍物相关的参数

~<name>/min_obstacle_dist: Desired minimal distance from obstacles

~<name>/include_costmap_obstacles: Deactivate costmap obstacles completely

~<name>/costmap_obstacles_behind_robot_dist: Maximum distance behind the robot searched for occupied costmap cells.

~<name>/obstacle_poses_affected: Specify how many trajectory configurations/poses should be taken into account next to the closest one.

~<name>/weight_obstacle: Optimization weight for keeping a distance to obstacles.

~<name>/footprint_model: The robot footprint model