ROS 之使用yocs_velocity_smoother对机器人速度进行限制

Love The Way You Lie 2022-11-30 01:25 69阅读 0赞

> yocs\_velocity\_smoother是一个速度、加速度限制器，用来防止robot navigation的速度/转速过快，加速度/快减速过大。Bound incoming velocity messages according to robot velocity and acceleration limits. The velocity smoother nodelet runs together with the kobuki\_node to apply robot’s velocity and acceleration limits to the incoming commands before resending them to the robot. It will however also work for any other generic ros mobile base driver.

#### 0. 安装 ####

输入下面命令安装yocs\_velocity\_smoother或者从GitHub上下载源代码进行编译。

sudo apt-get install ros-kinetic-yocs-velocity-smoother

#### 1. 订阅与发布的话题 ####

订阅的话题

*  raw\_cmd\_vel：Input velocity commands. 原始速度指令
 *  odometry：We compare the output velocity commands to measured velocity to ensure we don’t create very big jumps in the velocity profile.
 *  robot\_cmd\_vel：Alternatively, we can also compare the output velocity commands to end robot velocity commands to ensure we don’t create very big jumps in the velocity profile. See robot\_feedback parameter description below for more details.

发布的话题

*  smooth\_cmd\_vel：Smoothed output velocity commands respecting velocity and acceleration limits. 限制速度后的速度

#### 2. launch文件示例 ####

先运行一个名为nodelet\_manager的nodelet manager节点，然后加载velocity\_smoother.launch文件：

fanfan\_smoother.yaml文件用于配置速度平滑参数：

# Example configuration:
    # - velocity limits are around a 10% above the physical limits
    # - acceleration limits are just low enough to avoid jerking
    
    # Mandatory parameters
    speed_lim_v: 0.8 # Linear velocity limit
    speed_lim_w: 5.4 # Angular velocity limit
    
    accel_lim_v: 0.3 # Linear acceleration limit
    accel_lim_w: 3.5 # Angular acceleration limit
    
    # Optional parameters
    frequency: 20.0 # Output messages rate. The velocity smoother keeps it regardless incoming messages rate, interpolating whenever necessary
    decel_factor: 1.0 # Deceleration/acceleration ratio. Useful to make deceleration more aggressive
    
    # Robot velocity feedback type:
    # 0 - none
    # 1 - odometry
    # 2 - end robot commands
    robot_feedback: 2

现在速度就已经被限制，cmd\_vel被限制后的新节点名字为：smooth\_cmd\_vel