从零实现机器人自主避障

1. 编译工具安装

sudo apt update
sudo apt install python3-catkin-pkg python3-rosdep python3-rosinstall-generator python3-wstool python3-rosinstall build-essential
sudo rosdep init
rosdep update

2. 构建节点

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
ros2 pkg create turtlebot_suo --build-type ament_python --dependencies rclpy sensor_msgs geometry_msgs

touch turtlebot_suo/turtlebot_suo/ob_avoid.py
chmod +x turtlebot_suo/turtlebot_suo/ob_avoid.py
# setup.py中定义ros2 run的入口
	entry_points={
	    'console_scripts': [
	        'ob_avoid = turtlebot_suo.ob_avoid:main',
	    ],
	},
cd ~/ros2_ws
colcon build --packages-select turtlebot_suo
source install/setup.bash

3. 避障程序

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist

class ObstacleAvoidance(Node):
    def __init__(self):
        super().__init__('ob_avoid')
        self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 10)
        self.subscription_ = self.create_subscription(LaserScan,'scan',self.laser_scan_callback,10)
        self.subscription_  
    def laser_scan_callback(self, msg):
        # 获取前方90度范围内的最小距离
        front_range = msg.ranges[0:45] + msg.ranges[-45:]
        min_distance = min(front_range)
		# 避障逻辑
        cmd_msg = Twist()
        if min_distance < 0.5:
            # 障碍物距离小于0.5米时左转
            cmd_msg.angular.z = 0.5
            self.get_logger().info('# 障碍物距离小于0.5米，左转.')
        else:
            # 默认按固定速度直行
            cmd_msg.linear.x = 0.2
        self.publisher_.publish(cmd_msg)

def main(args=None):
    rclpy.init(args=args)
    node = ObstacleAvoidance()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        node.destroy_node()
        rclpy.shutdown()

if __name__ == '__main__':
    main()

4. 效果

# 启动Gazebo仿真
roslaunch turtlebot3_gazebo turtlebot3_world.launch
# 启动避障节点（新终端）
ros2 run turtlebot_suo ob_avoid