{"id":5756,"date":"2022-01-09T18:09:47","date_gmt":"2022-01-09T10:09:47","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=5756"},"modified":"2024-07-16T16:52:32","modified_gmt":"2024-07-16T08:52:32","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9fros-%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%bavslam%e5%8f%8a%e5%af%bc%e8%88%aa","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=5756","title":{"rendered":"ROS\u2014\u6df1\u5ea6\u76f8\u673a+\u6fc0\u5149\u96f7\u8fbevSLAM\u5efa\u56fe\u5bfc\u822a"},"content":{"rendered":"<div class=\"page\" title=\"Page 2\">\n<div class=\"layoutArea\">\n<div 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align=\"left\">\u666e\u901a\u7684\u5f69\u8272\u76f8\u673a\u62cd\u6444\u5230\u7684\u56fe\u7247\u80fd\u770b\u5230\u76f8\u673a\u89c6\u89d2\u5185\u7684\u6240\u6709\u7269\u4f53\u5e76\u8bb0\u5f55\u4e0b\u6765\uff0c\u4f46\u662f\u5176\u6240\u8bb0\u5f55\u7684\u6570\u636e\u4e0d\u5305\u542b\u8fd9\u4e9b\u7269\u4f53\u8ddd\u79bb\u76f8\u673a\u7684\u8ddd\u79bb\u3002\u4ec5\u4ec5\u80fd\u901a\u8fc7\u56fe\u50cf\u7684\u8bed\u4e49\u5206\u6790\u6765\u5224\u65ad\u54ea\u4e9b\u7269\u4f53\u79bb\u6211\u4eec\u6bd4\u8f83\u8fdc\uff0c\u54ea\u4e9b\u6bd4\u8f83\u8fd1\uff0c\u4f46\u662f\u5e76\u6ca1\u6709\u786e\u5207\u7684\u6570\u636e\u3002\u800c\u6df1\u5ea6\u76f8\u673a\u5219\u6070\u6070\u89e3\u51b3\u4e86\u8be5\u95ee\u9898\uff0c\u901a\u8fc7\u6df1\u5ea6\u76f8\u673a\u83b7\u53d6\u5230\u7684\u6570\u636e\uff0c\u6211\u4eec\u80fd\u51c6\u786e\u77e5\u9053\u56fe\u50cf\u4e2d\u6bcf\u4e2a\u70b9\u79bb\u6444\u50cf\u5934\u8ddd\u79bb\uff0c\u8fd9\u6837\u52a0\u4e0a\u8be5\u70b9\u57282D\u56fe\u50cf\u4e2d\u7684(x,y)\u5750\u6807\uff0c\u5c31\u80fd\u83b7\u53d6\u56fe\u50cf\u4e2d\u6bcf\u4e2a\u70b9\u7684\u4e09\u7ef4\u7a7a\u95f4\u5750\u6807\u3002\u901a\u8fc7\u4e09\u7ef4\u5750\u6807\u5c31\u80fd\u8fd8\u539f\u771f\u5b9e\u573a\u666f\uff0c\u5b9e\u73b0\u573a\u666f\u5efa\u6a21\u7b49\u5e94\u7528\u3002<\/p>\n<p>\u6df1\u5ea6\u76f8\u673a\u4e5f\u5177\u5907\u666e\u901a\u76f8\u673a\u7684\u4e00\u4e9b\u4e0d\u8db3\uff0c\u5bb9\u6613\u53d7\u89c6\u5dee\u5f71\u54cd\uff1a\u5305\u62ec\u9ed1\u8272\u7269\u4f53\uff08\u7279\u5f81\u70b9\u5c11\uff09\u3001\u900f\u660e\u7269\u4f53\uff08\u5149\u7684\u7a7f\u900f\uff09\u3001\u5149\u6ed1\u7269\u4f53\uff08\u5149\u53cd\u5c04\u592a\u5f3a\uff09\u3001\u56fe\u50cf\u65e0\u7eb9\u7406(\u7279\u5f81\u70b9\u5c11)\u3001\u8fc7\u5ea6\u66dd\u5149(\u7279\u5f81\u70b9\u5c11)\u7b49\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5771\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td-1024x804.jpg\" alt=\"\" width=\"625\" height=\"491\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td-1024x804.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td-300x236.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td-768x603.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td-624x490.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-td.jpg 1166w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h2>2.\u5e38\u89c1\u7684\u6df1\u5ea6\u76f8\u673a<\/h2>\n<p align=\"left\">\u76ee\u524d\u5e02\u9762\u4e0a\u5e38\u6709\u7684\u6df1\u5ea6\u76f8\u673a\u65b9\u6848\u6709\u4ee5\u4e0b\u4e09\u79cd\uff1a<\/p>\n<h3>2.1 \u53cc\u76ee\u89c6\u89c9(Stereo)<\/h3>\n<p>\u53cc\u76ee\u7acb\u4f53\u89c6\u89c9(Binocular Stereo Vision)\u662f\u673a\u5668\u89c6\u89c9\u7684\u4e00\u79cd\u91cd\u8981\u5f62\u5f0f\uff0c\u4ed6\u662f\u57fa\u4e8e\u89c6\u5dee\u539f\u7406\u5e76\u5229\u7528\u6210\u50cf\u8bbe\u5907\u4ece\u4e0d\u540c\u7684\u4f4d\u7f6e\u83b7\u53d6\u88ab\u6d4b\u7269\u4f53\u7684\u4e24\u5e45\u56fe\u50cf\uff0c\u901a\u8fc7\u8ba1\u7b97\u56fe\u50cf\u5bf9\u5e94\u70b9\u95f4\u7684\u4f4d\u7f6e\u504f\u5dee\uff0c\u6765\u83b7\u53d6\u7269\u4f53\u4e09\u7ef4\u51e0\u4f55\u4fe1\u606f\u7684\u65b9\u6cd5\u3002<\/p>\n<p data-pid=\"FAQM0iRe\">\u53cc\u76ee\u76f8\u673a\u7684\u4e3b\u8981\u4f18\u70b9\u6709\uff1a<\/p>\n<ul>\n<li data-pid=\"SCqPEdjE\">1\uff09\u786c\u4ef6\u8981\u6c42\u4f4e\uff0c\u6210\u672c\u4e5f\u4f4e\u3002\u666e\u901a CMOS \u76f8\u673a\u5373\u53ef<\/li>\n<li data-pid=\"9Y7QdgAd\">2\uff09\u5ba4\u5185\u5916\u90fd\u9002\u7528\u3002\u53ea\u8981\u5149\u7ebf\u5408\u9002\uff0c\u4e0d\u8981\u592a\u660f\u6697<\/li>\n<\/ul>\n<p data-pid=\"9KsRciKu\">\u4f46\u662f\u53cc\u76ee\u7684\u7f3a\u70b9\u4e5f\u662f\u975e\u5e38\u660e\u663e\uff1a<\/p>\n<ul>\n<li data-pid=\"6txASquF\">1\uff09\u5bf9\u73af\u5883\u5149\u7167\u975e\u5e38\u654f\u611f\u3002\u5149\u7ebf\u53d8\u5316\u5bfc\u81f4\u56fe\u50cf\u504f\u5dee\u5927\uff0c\u8fdb\u800c\u4f1a\u5bfc\u81f4\u5339\u914d\u5931\u8d25\u6216\u7cbe\u5ea6\u4f4e<\/li>\n<li data-pid=\"j2dj94cn\">2\uff09\u4e0d\u9002\u7528\u5355\u8c03\u7f3a\u4e4f\u7eb9\u7406\u7684\u573a\u666f\u3002\u53cc\u76ee\u89c6\u89c9\u6839\u636e\u89c6\u89c9\u7279\u5f81\u8fdb\u884c\u56fe\u50cf\u5339\u914d\uff0c\u6ca1\u6709\u7279\u5f81\u4f1a\u5bfc\u81f4\u5339\u914d\u5931\u8d25<\/li>\n<li data-pid=\"Maogdpsa\">3\uff09\u8ba1\u7b97\u590d\u6742\u5ea6\u9ad8\uff0c\u9700\u8981\u5f88\u9ad8\u7684\u8ba1\u7b97\u8d44\u6e90\u3002\u8be5\u65b9\u6cd5\u662f\u7eaf\u89c6\u89c9\u7684\u65b9\u6cd5\uff0c\u5bf9\u7b97\u6cd5\u8981\u6c42\u9ad8\uff0c\u5b9e\u65f6\u6027\u5dee<\/li>\n<li data-pid=\"oR8rjPHF\">4\uff09\u57fa\u7ebf\u9650\u5236\u4e86\u6d4b\u91cf\u8303\u56f4\u3002\u6d4b\u91cf\u8303\u56f4\u548c\u57fa\u7ebf\uff08\u4e24\u4e2a\u6444\u50cf\u5934\u95f4\u8ddd\uff09\u6210\u6b63\u6bd4\uff0c\u5bfc\u81f4\u65e0\u6cd5\u5c0f\u578b\u5316<\/li>\n<\/ul>\n<p>\u4ee3\u8868\u516c\u53f8\uff1a<\/p>\n<ul>\n<li>Leap Motion\uff0c ZED\uff0c \u5927\u7586<\/li>\n<\/ul>\n<h3>2.2 \u7ed3\u6784\u5149(Structured-light)<\/h3>\n<p>\u901a\u8fc7\u8fd1\u7ea2\u5916\u6fc0\u5149\u5668\uff0c\u5c06\u5177\u6709\u4e00\u5b9a\u7ed3\u6784\u7279\u5f81\u7684\u5149\u7ebf\u6295\u5c04\u5230\u88ab\u62cd\u6444\u7269\u4f53\u4e0a\uff0c\u518d\u7531\u4e13\u95e8\u7684\u7ea2\u5916\u6444\u50cf\u5934\u8fdb\u884c\u91c7\u96c6\u3002\u8fd9\u79cd\u5177\u5907\u4e00\u5b9a\u7ed3\u6784\u7684\u5149\u7ebf\uff0c\u4f1a\u56e0\u88ab\u6444\u7269\u4f53\u7684\u4e0d\u540c\u6df1\u5ea6\u533a\u57df\uff0c\u800c\u91c7\u96c6\u4e0d\u540c\u7684\u56fe\u50cf\u76f8\u4f4d\u4fe1\u606f\uff0c\u7136\u540e\u901a\u8fc7\u8fd0\u7b97\u5355\u5143\u5c06\u8fd9\u79cd\u7ed3\u6784\u7684\u53d8\u5316\u6362\u7b97\u6210\u6df1\u5ea6\u4fe1\u606f\uff0c\u4ee5\u6b64\u6765\u83b7\u5f97\u4e09\u7ef4\u7ed3\u6784\u3002\u7b80\u5355\u6765\u8bf4\u5c31\u662f\uff0c\u901a\u8fc7\u5149\u5b66\u624b\u6bb5\u83b7\u53d6\u88ab\u62cd\u6444\u7269\u4f53\u7684\u4e09\u7ef4\u7ed3\u6784\uff0c\u518d\u5c06\u83b7\u53d6\u5230\u7684\u4fe1\u606f\u8fdb\u884c\u66f4\u6df1\u5165\u7684\u5e94\u7528\u3002\u901a\u5e38\u91c7\u7528\u7279\u5b9a\u6ce2\u957f\u7684\u4e0d\u53ef\u89c1\u7684\u7ea2\u5916\u6fc0\u5149\u4f5c\u4e3a\u5149\u6e90\uff0c\u5b83\u53d1\u5c04\u51fa\u6765\u7684\u5149\u7ecf\u8fc7 \u4e00\u5b9a\u7684\u7f16\u7801\u6295\u5f71\u5728\u7269\u4f53\u4e0a\uff0c\u901a\u8fc7\u4e00\u5b9a\u7b97\u6cd5\u6765\u8ba1\u7b97\u8fd4\u56de\u7684\u7f16\u7801\u56fe\u6848\u7684\u7578\u53d8\u6765\u5f97\u5230\u7269\u4f53\u7684\u4f4d\u7f6e\u548c\u6df1\u5ea6\u4fe1\u606f\u3002\u4e0b\u56fe\u662f\u4e00\u4e2a\u5178\u578b\u7684\u7ed3\u6784\u5149\u76f8\u673a\u7684\u793a\u610f\u56fe:<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light1.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5859\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light1.jpg\" alt=\"\" width=\"535\" height=\"439\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light1.jpg 535w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light1-300x246.jpg 300w\" sizes=\"(max-width: 535px) 100vw, 535px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5858\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light.jpg\" alt=\"\" width=\"507\" height=\"304\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light.jpg 507w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/structured-light-300x180.jpg 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/a><\/p>\n<p data-pid=\"RjlEaN5x\">\u7ed3\u6784\u5149\uff08\u6563\u6591\uff09\u7684\u4f18\u70b9\u4e3b\u8981\u6709\uff1a<\/p>\n<ul>\n<li data-pid=\"8TpdRv8B\">1\uff09\u65b9\u6848\u6210\u719f\uff0c\u76f8\u673a\u57fa\u7ebf\u53ef\u4ee5\u505a\u7684\u6bd4\u8f83\u5c0f\uff0c\u65b9\u4fbf\u5c0f\u578b\u5316\u3002<\/li>\n<li data-pid=\"8r7qU0k9\">2\uff09\u8d44\u6e90\u6d88\u8017\u8f83\u4f4e\uff0c\u5355\u5e27 IR \u56fe\u5c31\u53ef\u8ba1\u7b97\u51fa\u6df1\u5ea6\u56fe\uff0c\u529f\u8017\u4f4e\u3002<\/li>\n<li data-pid=\"Ik251cFe\">3\uff09\u4e3b\u52a8\u5149\u6e90\uff0c\u591c\u665a\u4e5f\u53ef\u4f7f\u7528\u3002<\/li>\n<li data-pid=\"TK78cCJS\">4\uff09\u5728\u4e00\u5b9a\u8303\u56f4\u5185\u7cbe\u5ea6\u9ad8\uff0c\u5206\u8fa8\u7387\u9ad8\uff0c\u5206\u8fa8\u7387\u53ef\u8fbe 1280&#215;1024,\u5e27\u7387\u53ef\u8fbe 60FPS\u3002<\/li>\n<\/ul>\n<p data-pid=\"l3NnQtfz\">\u6563\u6591\u7ed3\u6784\u5149\u7684\u7f3a\u70b9\u4e0e\u7ed3\u6784\u5149\u7c7b\u4f3c\uff1a<\/p>\n<ul>\n<li data-pid=\"dsmOCnwp\">1\uff09\u5bb9\u6613\u53d7\u73af\u5883\u5149\u5e72\u6270\uff0c\u5ba4\u5916\u4f53\u9a8c\u5dee\u3002<\/li>\n<li data-pid=\"CiVnSa1L\">2\uff09\u968f\u68c0\u6d4b\u8ddd\u79bb\u589e\u52a0\uff0c\u7cbe\u5ea6\u4f1a\u53d8\u5dee\u3002<\/li>\n<\/ul>\n<p>\u4ee3\u8868\u516c\u53f8\uff1a<\/p>\n<ul>\n<li>\u5965\u6bd4\u4e2d\u5149\uff0c\u82f9\u679c(Prime Sense)\uff0c\u5fae\u8f6f Kinect-1\uff0c\u82f1\u7279\u5c14 RealSense, Mantis Vision \u7b49\u3002<\/li>\n<\/ul>\n<h3>2.3 \u5149\u98de\u884c\u65f6\u95f4\u6cd5(TOF)<\/h3>\n<p data-pid=\"-FwUsl__\">\u987e\u540d\u601d\u4e49\u662f\u6d4b\u91cf\u5149\u98de\u884c\u65f6\u95f4\u6765\u53d6\u5f97\u8ddd\u79bb\uff0c\u5177\u4f53\u800c\u8a00\u5c31\u662f\u901a\u8fc7\u7ed9\u76ee\u6807\u8fde\u7eed\u53d1\u5c04\u6fc0\u5149\u8109\u51b2\uff0c\u7136\u540e\u7528\u4f20\u611f\u5668 \u63a5\u6536\u4ece\u53cd\u5c04\u5149\u7ebf\uff0c\u901a\u8fc7\u63a2\u6d4b\u5149\u8109\u51b2\u7684\u98de\u884c\u5f80\u8fd4\u65f6\u95f4\u6765\u5f97\u5230\u786e\u5207\u7684\u76ee\u6807\u7269\u8ddd\u79bb\u3002\u56e0\u4e3a\u5149\u901f\u6fc0\u5149\uff0c\u901a\u8fc7\u76f4\u63a5\u6d4b \u5149\u98de\u884c\u65f6\u95f4\u5b9e\u9645\u4e0d\u53ef\u884c\uff0c\u4e00\u822c\u901a\u8fc7\u68c0\u6d4b\u901a\u8fc7\u4e00\u5b9a\u624b\u6bb5\u8c03\u5236\u540e\u7684\u5149\u6ce2\u7684\u76f8\u4f4d\u504f\u79fb\u6765\u5b9e\u73b0\u3002 TOF \u6cd5\u6839\u636e\u8c03\u5236\u65b9\u6cd5\u7684\u4e0d\u540c\uff0c\u4e00\u822c\u53ef\u4ee5\u5206\u4e3a\u4e24\u79cd\uff1a\u8109\u51b2\u8c03\u5236\uff08Pulsed Modulation\uff09\u548c\u8fde\u7eed\u6ce2\u8c03\u5236 \uff08Continuous Wave Modulation\uff09\u3002\u8109\u51b2\u8c03\u5236\u9700\u8981\u975e\u5e38\u9ad8\u7cbe\u5ea6\u65f6\u949f\u8fdb\u884c\u6d4b\u91cf\uff0c\u4e14\u9700\u8981\u53d1\u51fa\u9ad8\u9891\u9ad8\u5f3a\u5ea6\u6fc0\u5149\uff0c\u76ee \u524d\u5927\u591a\u91c7\u7528\u68c0\u6d4b\u76f8\u4f4d\u504f\u79fb\u529e\u6cd5\u6765\u5b9e\u73b0 TOF \u529f\u80fd\u3002\u7b80\u5355\u6765\u8bf4\u5c31\u662f\uff0c\u53d1\u51fa\u4e00\u9053\u7ecf\u8fc7\u5904\u7406\u7684\u5149\uff0c\u78b0\u5230\u7269\u4f53\u4ee5\u540e\u4f1a\u53cd\u5c04\u56de\u6765\uff0c\u6355\u6349\u6765\u56de\u7684\u65f6\u95f4\uff0c\u56e0\u4e3a\u5df2\u77e5\u5149\u901f\u548c\u8c03\u5236\u5149\u7684\u6ce2\u957f\uff0c\u6240\u4ee5\u80fd\u5feb\u901f\u51c6\u786e\u8ba1\u7b97\u51fa\u5230\u7269\u4f53\u7684\u8ddd\u79bb\u3002<\/p>\n<p data-pid=\"9XkL9ePL\">\u5176\u539f\u7406\u793a\u610f\u56fe\uff1a<\/p>\n<p data-pid=\"9XkL9ePL\"><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/tof.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5857\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/tof.jpg\" alt=\"\" width=\"587\" height=\"278\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/tof.jpg 587w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/tof-300x142.jpg 300w\" sizes=\"(max-width: 587px) 100vw, 587px\" \/><\/a><\/p>\n<p data-pid=\"G9_KFGQX\">\u56e0\u4e3a TOF \u5e76\u975e\u57fa\u4e8e\u7279\u5f81\u5339\u914d\uff0c\u8fd9\u6837\u5728\u6d4b\u8bd5\u8ddd\u79bb\u53d8\u8fdc\u65f6\uff0c\u7cbe\u5ea6\u4e5f\u4e0d\u4f1a\u4e0b\u964d\u5f88\u5feb\uff0c\u76ee\u524d\u65e0\u4eba\u9a7e\u9a76\u4ee5\u53ca\u4e00\u4e9b\u9ad8\u7aef\u7684\u6d88\u8d39\u7c7b Lidar \u57fa\u672c\u90fd\u662f\u91c7\u7528\u8be5\u65b9\u6cd5\u6765\u5b9e\u73b0\u3002<\/p>\n<p data-pid=\"G9_KFGQX\">TOF \u7684\u4f18\u70b9\u4e3b\u8981\u6709\uff1a<\/p>\n<ul>\n<li data-pid=\"G9_KFGQX\">1\uff09\u68c0\u6d4b\u8ddd\u79bb\u8fdc\u3002\u5728\u6fc0\u5149\u80fd\u91cf\u591f\u7684\u60c5\u51b5\u4e0b\u53ef\u8fbe\u51e0\u5341\u7c73<\/li>\n<li data-pid=\"G9_KFGQX\">2\uff09\u53d7\u73af\u5883\u5149\u5e72\u6270\u6bd4\u8f83\u5c0f<\/li>\n<\/ul>\n<p data-pid=\"lQnaUw8r\">\u4f46\u662f TOF \u4e5f\u6709\u4e00\u4e9b\u663e\u800c\u6613\u89c1\u7684\u95ee\u9898\uff1a<\/p>\n<ul>\n<li data-pid=\"Ji3FdMNz\">1\uff09\u5bf9\u8bbe\u5907\u8981\u6c42\u9ad8\uff0c\u7279\u522b\u662f\u65f6\u95f4\u6d4b\u91cf\u6a21\u5757\u3002<\/li>\n<li data-pid=\"pOuSFxo6\">2\uff09\u8d44\u6e90\u6d88\u8017\u5927\u3002 \u8be5\u65b9\u6848\u5728\u68c0\u6d4b\u76f8\u4f4d\u504f\u79fb\u65f6\u9700\u8981\u591a\u6b21\u91c7\u6837\u79ef\u5206\uff0c\u8fd0\u7b97\u91cf\u5927\u3002<\/li>\n<li data-pid=\"lOLhdVC2\">3\uff09\u8fb9\u7f18\u7cbe\u5ea6\u4f4e\u3002<\/li>\n<li data-pid=\"jms6CO97\">4\uff09\u9650\u4e8e\u8d44\u6e90\u6d88\u8017\u548c\u6ee4\u6ce2\uff0c\u5e27\u7387\u548c\u5206\u8fa8\u7387\u90fd\u6ca1\u529e\u6cd5\u505a\u5230\u8f83\u9ad8\u3002<\/li>\n<\/ul>\n<p>\u4ee3\u8868\u516c\u53f8\uff1a<\/p>\n<ul>\n<li>\u5fae\u8f6f Kinect-2\uff0cPMD\uff0cSoftKinect\uff0c \u8054\u60f3 Phab\u3002<\/li>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>\u4f20\u611f\u5668\u6280\u672f\u4e0d\u662f\u5f88\u6210\u719f\uff0c\u56e0\u6b64\uff0c\u5206\u8fa8\u7387\u8f83\u4f4e\uff0c\u6210\u672c\u9ad8\uff0c\u4f46\u7531\u4e8e\u5176\u539f\u7406\u4e0e\u53e6\u5916\u4e24\u79cd\u5b8c\u5168\u4e0d\u540c\uff0c\u5b9e\u65f6\u6027\u9ad8\uff0c\u4e0d\u9700\u8981\u989d\u5916\u589e\u52a0\u8ba1\u7b97\u8d44\u6e90\uff0c\u51e0\u4e4e\u65e0\u7b97\u6cd5\u5f00\u53d1\u5de5\u4f5c\u91cf\uff0c\u662f\u672a\u6765\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>2.4 \u7efc\u5408\u5bf9\u6bd4<\/h3>\n<p>\u4ece\u4e0a\u9762\u4e09\u79cd\u4e3b\u6d41\u7684 3D \u76f8\u673a\u6210\u50cf\u65b9\u6848\u6765\u770b\uff0c\u5404\u6709\u4f18\u52a3\uff0c\u4f46\u662f\u4ece\u5b9e\u9645\u5e94\u7528\u573a\u666f\u6765\u770b\uff0c\u5728\u975e\u65e0\u4eba\u9a7e\u9a76\u57df\uff0c\u7ed3\u6784\u5149\uff0c\u7279\u522b\u662f\u6563\u6591\u7ed3\u6784\u5149\u7684\u7528\u9014\u662f\u6700\u5e7f\u6cdb\u3002\u56e0\u4e3a\u4ece\u7cbe\u5ea6\uff0c\u5206\u8fa8\u7387\uff0c\u8fd8\u6709\u5e94\u7528\u573a\u666f\u7684\u8303\u56f4\u6765\u770b\u53cc\u76ee\u548c TOF \u90fd\u6ca1\u6709\u529e\u6cd5\u505a\u5230\u6700\u5927\u7684\u5e73\u8861\u3002\u800c\u4e14\u5bf9\u4e8e\u7ed3\u6784\u5149\u5bb9\u6613\u53d7\u73af\u5883\u5149\u5e72\u6270\uff0c\u7279\u522b\u662f\u592a\u9633\u5149\u5f71\u54cd\u95ee\u9898\uff0c\u9274\u4e8e\u6b64\u7c7b\u76f8\u673a\u90fd\u6709\u7ea2\u5916\u6fc0\u5149\u53d1\u5c04\u6a21\u5757\uff0c\u975e\u5e38\u5bb9\u6613\u6539\u9020\u4e3a\u4e3b\u52a8\u53cc\u76ee\u6765\u5f25\u8865\u8be5\u95ee\u9898\u3002<\/p>\n<p>\u7ed3\u6784\u5149\u4e0eTOF\u7684\u5bf9\u6bd4\uff1a<\/p>\n<p>\u5bf9\u6bd4\u6765\u770b\uff0c\u7ed3\u6784\u5149\u6280\u672f\u529f\u8017\u66f4\u5c0f\uff0c\u6280\u672f\u66f4\u6210\u719f\uff0c\u66f4\u9002\u5408\u9759\u6001\u573a\u666f\u3002\u800cTOF\u65b9\u6848\u5728\u8fdc\u8ddd\u79bb\u4e0b\u566a\u58f0\u8f83\u4f4e\uff0c\u540c\u65f6\u62e5\u6709\u66f4\u9ad8\u7684FPS\uff0c\u56e0\u6b64\u66f4\u9002\u5408\u52a8\u6001\u573a\u666f\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u7ed3\u6784\u5149\u6280\u672f\u4e3b\u8981\u5e94\u7528\u4e8e\u89e3\u9501\u4ee5\u53ca\u5b89\u5168\u652f\u4ed8\u7b49\u65b9\u9762\uff0c\u5176\u5e94\u7528\u8ddd\u79bb\u53d7\u9650\u3002\u800cTOF\u6280\u672f\u4e3b\u8981\u7528\u4e8e\u667a\u80fd\u673a\u540e\u7f6e\u6444\u5f71\uff0c\u5e76\u5728AR\u3001VR\u7b49\u9886\u57df\uff08\u5305\u62ec3D\u62cd\u7167\u3001\u4f53\u611f\u6e38\u620f\u7b49\uff09\u6709\u4e00\u5b9a\u7684\u4f5c\u7528\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-yl.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5773\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-yl.jpg\" alt=\"\" width=\"460\" height=\"236\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-yl.jpg 460w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-yl-300x154.jpg 300w\" sizes=\"(max-width: 460px) 100vw, 460px\" \/><\/a><\/p>\n<p>3D\u7ed3\u6784\u5149\u548cTOF\u4e24\u8005\u5176\u5b9e\u5404\u6709\u4f18\u52a3\u52bf\u3002\u7ed3\u6784\u5149\u6700\u5927\u7684\u4f18\u52bf\u662f\u53d1\u5c55\u7684\u8f83\u4e3a\u6210\u719f\uff0c\u6210\u672c\u6bd4\u8f83\u4f4e\uff0c\u52a3\u52bf\u662f\u53ea\u9002\u5408\u4e2d\u77ed\u8ddd\u79bb\u4f7f\u7528\u3002ToF\u4f18\u52bf\u662f\u6297\u5e72\u6270\u6027\u8f83\u597d\uff0c\u89c6\u89d2\u8f83\u5bbd\uff0c\u7f3a\u9677\u662f\u529f\u8017\u9ad8\uff0c\u9020\u4ef7\u8d35\uff0c\u7cbe\u5ea6\u53ca\u6df1\u5ea6\u56fe\u5206\u8fa8\u7387\u8f83\u4f4e\u3002\u4e24\u9879\u6280\u672f\u5404\u6709\u4fa7\u91cd\u70b9\u548c\u9002\u914d\u4f7f\u7528\u573a\u666f\u3002<\/p>\n<p><strong>\u7ed3\u6784\u5149\u76f8\u673a\u786c\u4ef6\u8bf4\u660e\uff1a<\/strong><\/p>\n<p>\u7efc\u5408\u8003\u8651\u6210\u672c\uff0c\u672c\u6587\u5c06\u91c7\u7528\u6b64\u7c7b\u76f8\u673a\uff0c\u5728\u8fd9\u91cc\u5355\u72ec\u8bf4\u660e\u4e0b\u3002<\/p>\n<p>Kinect\uff08xbox\u6e38\u620f\u673a\u914d\u4ef6\uff09\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect.png\"><img loading=\"lazy\" class=\"alignnone wp-image-5769 size-medium\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect-300x162.png\" alt=\"\" width=\"300\" height=\"162\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect-300x162.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect-768x415.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect-1024x553.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect-624x337.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd-kinect.png 1192w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p>\u4e50\u89c6\u4f53\u611f\u76f8\u673a\uff08\u4e50\u89c6tv\u914d\u4ef6\uff09\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/letv-rgbd.png\"><img loading=\"lazy\" class=\"alignnone wp-image-5774 size-medium\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/letv-rgbd-300x110.png\" alt=\"\" width=\"300\" height=\"110\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/letv-rgbd-300x110.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/letv-rgbd.png 562w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p>\u76f8\u673a\u4e00\u822c\u6709\u4e09\u53ea\u773c\u775b\uff0c\u4ece\u5de6\u5230\u53f3\u5206\u522b\u4e3a\uff1a<\/p>\n<ul>\n<li>\u6295\u5c04\u7ea2\u5916\u7ebfpattern\u7684IR Projector\uff08\u5de6\uff09<\/li>\n<li>\u6444\u50cf\u5934Color Camera\uff08\u4e2d\uff09<\/li>\n<li>\u8bfb\u53d6\u53cd\u5c04\u7ea2\u5916\u7ebf\u7684IR Camera\uff08\u53f3\uff09<\/li>\n<\/ul>\n<p>Depth\u4f20\u611f\u5668\u8bfb\u53d6\u5de6\u53f3\u4e24\u8fb9\u6295\u5c04\u7684\u7ea2\u5916\u7ebfpattern\uff0c\u901a\u8fc7pattern\u7684\u53d8\u5f62\u6765\u53d6\u5f97Depth\u7684\u4fe1\u606f\u3002<\/p>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 3\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h1>\u4e8c\u3001 \u6444\u50cf\u5934\u901a\u8def\u6253\u901a<\/h1>\n<h2>1.\u786c\u4ef6\u8fde\u63a5<\/h2>\n<p>\u8003\u8651\u6210\u672c\uff0c\u6211\u4eec\u5728\u4e0a\u4e00\u6b21\u7ec4\u88c5\u7684ROS+\u5e95\u76d8\u5957\u88c5\u7684\u57fa\u7840\u4e0a\uff0c\u65b0\u589e\u4e00\u4e2a\u6df1\u5ea6\u76f8\u673a\u5373\u53ef\uff1a<\/p>\n<ul>\n<li>\u4e50\u89c6\u4f53\u611f\u4e09\u5408\u4e00\u6444\u50cf\u5934 * 1<\/li>\n<li>usb\u5b50\u6bcd\u5ef6\u957f\u7ebf\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 * 1<\/li>\n<\/ul>\n<h2>2.\u5b89\u88c5\u9a71\u52a8<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u5b89\u88c5\u76f8\u5173\u4f9d\u8d56\r\nsudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros ros-$ROS_DISTRO-camera-info-manager   # ros-$ROS_DISTRO-libuvc \r\n# \u5b89\u88c5vslam\u76f8\u5173\u4f9d\u8d56\r\nsudo apt install ros-$ROS_DISTRO-rtabmap ros-$ROS_DISTRO-rtabmap-ros ros-$ROS_DISTRO-depthimage-to-laserscan\r\n\r\n# \u514b\u9686\u529f\u80fd\u5305\u6e90\u7801\r\ncd ~\/catkin_ws\/src\r\ngit clone git@github.com:orbbec\/ros_astra_camera.git\r\ngit clone git@github.com:yanjingang\/robot_vslam.git\r\n\r\n# \u521b\u5efaudev\u89c4\u5219\r\ncd ros_astra_camera\r\nchmod +x .\/scripts\/create_udev_rules\r\n.\/scripts\/create_udev_rules\r\n# \u914d\u7f6e\u5e76\u52a0\u8f7d\u73af\u5883\u53d8\u91cf(\u673a\u5668\u4eba\u7aef\u6267\u884c)\r\ncd ~\/catkin_ws\/src\r\n.\/robot_vslam\/script\/setrgbd.sh astrapro\r\nsource ~\/.bashrc          # export CAMERA_TYPE=astrapro\r\n\r\n# \u7f16\u8bd1\r\ncd ~\/catkin_ws\r\ncatkin_make --pkg astra_camera robot_vslam\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\n<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h2>3.\u6d4b\u8bd5\u6444\u50cf\u5934<\/h2>\n<p>\u5728\u5b8c\u6210\u7b2c\u4e00\u6b65\u7684\u529f\u80fd\u5305\u7f16\u8bd1\u4e4b\u540e\uff0c\u5c06\u6444\u50cf\u5934\u8fde\u63a5\u5230\u673a\u5668\u4eba\u7684\u4e3b\u673a<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 5\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<pre class=\"pure-highlightjs\"><code class=\"\"># 0.\u68c0\u67e5\u6444\u50cf\u5934\u662f\u5426\u6b63\u5e38\u8bc6\u522b\r\nll \/dev\/astra*\r\n  lrwxrwxrwx 1 root root 15 Jan  6 12:50 \/dev\/astra_pro -&gt; bus\/usb\/001\/014\r\n  lrwxrwxrwx 1 root root 15 Jan  6 12:50 \/dev\/astrauvc -&gt; bus\/usb\/001\/015\r\n\r\n# 1.\u673a\u5668\u4eba\u7aef\u542f\u52a8\u6444\u50cf\u5934(\u542f\u52a8\u540e\u4f1a\u5f39\u51fa\u51e0\u4e2a\u8b66\u544a\uff0c\u4e0d\u7528\u7ba1\u5b83\uff0c\u8fd9\u662f\u7531\u4e8e\u9a71\u52a8\u4e2d\u7684\u4e00\u4e9b\u53c2\u6570\u6444\u50cf\u5934\u4e0d\u652f\u6301)\r\n#roslaunch astra_camera astra.launch  # Use Astra\r\nroslaunch robot_vslam astrapro.launch\r\n# \u5982\u679c\u62a5Warning: USB events thread - failed to set priority. This might cause loss of data...\uff0c\u662f\u56e0\u4e3a\u6ca1\u6709\u6743\u9650\uff0c\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\r\n#sudo -s\r\n#source \/home\/work\/.bashrc\r\n#roslaunch robot_vslam astrapro.launch\r\n\r\n# 2.PC \u7aef\u67e5\u770b\u56fe\u50cf(\u5e38\u7528topic\uff1a\u6df1\u5ea6\uff1a\/camera\/depth\/image\uff1b\u5f69\u8272\uff1a\/camera\/rgb\/image_raw\/compressed\uff1b\u7ea2\u5916\uff1a\/camera\/ir\/image\uff1b\u6ce8:ir\u56fe\u50cf\u53ea\u80fd\u901a\u8fc7rviz\u663e\u793a\uff0c\u5728rqt_image_view \u4e2d\u663e\u793a\u4f1a\u662f\u5168\u9ed1\uff0c\u8fd9\u548c\u56fe\u50cf\u683c\u5f0f\u6709\u5173\uff0c\u5e76\u975e\u8bbe\u5907\u95ee\u9898)\r\nrviz  \u6216 rqt_image_view<\/code><\/pre>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 6\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h2>4.\u70b9\u4e91\u663e\u793a<\/h2>\n<p>\u8fd9\u4e00\u90e8\u5206\u4e3a\u4e86\u8ba9\u5927\u5bb6\u4e86\u89e3\u4e00\u4e0b rviz \u4e2d\u7684\u5404\u7c7b\u63d2\u4ef6\u7684\u4f7f\u7528\uff0c\u5c06\u5e26\u7740\u5927\u5bb6\u4e00\u8d77\u642d\u5efa\u4e00\u4e2a rviz \u663e\u793a\u73af\u5883\u3002\uff08\u5982\u679c\u4e0d\u60f3\u8fdb\u884c\u624b\u52a8\u914d\u7f6e\uff0c\u4e5f\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u9884\u5148\u914d\u7f6e\u597d\u7684\u6587\u4ef6\uff1a\/robot_vslam\/rviz\/astrapro.rviz\uff09<\/p>\n<p>\u9996\u5148\u6211\u4eec\u6dfb\u52a0\u4e00\u4e2a\u70b9\u4e91\u663e\u793a\u63d2\u4ef6\uff0c\u70b9\u51fb\u201dAdd\u201d\uff0c\u5728\u5f39\u51fa\u7684\u754c\u9762\u4e2d\u53cc\u51fb\u201d PointCloud2\u201d\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5797\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-1024x748.png\" alt=\"\" width=\"625\" height=\"457\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-1024x748.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-300x219.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-768x561.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-624x456.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2.png 1198w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5c55\u5f00\u5de6\u4fa7PointCloud2\u9009\u578b\u5361\uff0c\u9009\u62e9Topic\uff1a<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 7\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-topic.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5796\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-topic.png\" alt=\"\" width=\"568\" height=\"403\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-topic.png 568w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-topic-300x213.png 300w\" sizes=\"(max-width: 568px) 100vw, 568px\" \/><\/a><\/p>\n<p>\u5c06 Fixed Frame \u9009\u62e9\u4e3a camera_link\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-fixedframe.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5795\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-fixedframe.png\" alt=\"\" width=\"566\" height=\"309\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-fixedframe.png 566w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-fixedframe-300x164.png 300w\" sizes=\"(max-width: 566px) 100vw, 566px\" \/><\/a><\/p>\n<p>\u6b64\u65f6\u754c\u9762\u4e2d\u5c31\u4f1a\u663e\u793a\u51fa\u70b9\u4e91\u56fe\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show.png\"><img loading=\"lazy\" class=\"alignnone wp-image-5800 size-full\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show.png\" alt=\"\" width=\"806\" height=\"360\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show.png 806w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show-300x134.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show-768x343.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-show-624x279.png 624w\" sizes=\"(max-width: 806px) 100vw, 806px\" \/><\/a><\/p>\n<p>\u5728 Color Transformer \u4e2d\u9009\u62e9\u4e0d\u540c\u7684\u989c\u8272\u6a21\u5f0f\u53ef\u4ee5\u7ed9\u70b9\u4e91\u6309\u7167\u4e0d\u540c\u7684\u89c4\u5219\u7740\u8272\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5799\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis.png\" alt=\"\" width=\"807\" height=\"367\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis.png 807w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis-300x136.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis-768x349.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-pointcloud2-axis-624x284.png 624w\" sizes=\"(max-width: 807px) 100vw, 807px\" \/><\/a><\/p>\n<p>\u6700\u540e\u901a\u8fc7\u5de6\u4e0a\u89d2\u7684\u201dFile\u201d\u9009\u9879\u5361\u4e2d Save Config As \u53ef\u4ee5\u5c06\u5f53\u524d rviz \u914d\u7f6e\u4fdd\u5b58\u5230\u6307\u5b9a\u4f4d\u7f6e\uff0c\u4e0b\u6b21\u6253\u5f00 rviz \u5019\u53ef\u4ee5\u901a\u8fc7 Open Config \u76f4\u63a5\u6253\u5f00\u914d\u7f6e\u6587\u4ef6\u907f\u514d\u518d\u6b21\u624b\u52a8\u914d\u7f6e\u754c\u9762\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5792\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config.png\" alt=\"\" width=\"993\" height=\"215\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config.png 993w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config-300x65.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config-768x166.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rviz-save-config-624x135.png 624w\" sizes=\"(max-width: 993px) 100vw, 993px\" \/><\/a><\/p>\n<h2>5.\u8f6c\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u6d4b\u8bd5<\/h2>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u6df1\u5ea6\u76f8\u673a\uff08\u673a\u5668\u4eba\u7aef\uff09\r\nroslaunch robot_vslam camera.launch\r\n# \u542f\u52a8\u6df1\u5ea6\u56fe\u5230\u96f7\u8fbe\u6570\u636e\u7684\u8f6c\u6362 (\uff01\u521d\u6b21\u5b89\u88c5\u76f8\u673a\u9a71\u52a8\u7684\u677f\u5b50\uff0c\u9700\u8981\u91cd\u542f\u4e0bpi\u8fd9\u4e2a\u529f\u80fd\u624d\u80fd\u751f\u6548\uff01)\r\nroslaunch robot_vslam depth_to_laser.launch\r\n\r\n# pc\u7aef\u53ef\u89c6\u5316\r\nrviz<\/code><\/pre>\n<div class=\"page\" title=\"Page 9\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p>\u914d\u7f6e\u4e00\u4e0b\u754c\u9762\u5c31\u53ef\u4ee5\u6b63\u5e38\u663e\u793a\u96f7\u8fbe\u6570\u636e\u4e86<\/p>\n<\/div>\n<\/div>\n<\/div>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5830\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan-1024x548.png\" alt=\"\" width=\"625\" height=\"334\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan-1024x548.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan-300x161.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan-768x411.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan-624x334.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/depthimage_to_laserscan.png 1424w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<div class=\"page\" title=\"Page 9\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p>\u8fd9\u91cc\u53ef\u4ee5\u6ce8\u610f\u5230\uff0c\u76f8\u5bf9\u4e8e\u673a\u5668\u4eba\u7684 TF \u5750\u6807\u4f4d\u7f6e\uff0c\u96f7\u8fbe\u6570\u636e\u5e76\u4e0d\u662f\u50cf\u6211\u4eec\u5e38\u89c1\u7684\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u662f 360 \u5ea6\u7684\uff0c\u8fd9\u662f\u7531\u4e8e\u6df1\u5ea6\u76f8\u673a\u7684\u89c6\u573a\u89d2(\u5373 FOV\uff0c\u6211\u4eec\u8fd9\u6b3e\u76f8\u673a\u6c34\u5e73 FOV \u4e3a 58.4 \u5ea6\uff0c\u5782\u76f4FOV \u4e3a 45.5 \u5ea6)\u662f\u6709\u9650\u7684\uff0c\u6240\u4ee5\u8f6c\u6362\u51fa\u7684\u96f7\u8fbe\u6570\u636e\u89d2\u5ea6\u8303\u56f4\u548c\u76f8\u673a\u662f\u6c34\u5e73 FOV\u662f\u4e00\u81f4\u7684\uff0c\u7b80\u5355\u7406\u89e3\u5c31\u662f\uff0c\u53ea\u80fd\u770b\u5230\u76f8\u673a\u524d\u65b9\u4e00\u5b9a\u89d2\u5ea6\u8303\u56f4\u5185\u7684\u4e1c\u897f\u3002<\/p>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 8\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h1>\u4e09\u3001 \u89c6\u89c9 vSLAM \u5efa\u56fe\u53ca\u5bfc\u822a<\/h1>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 12\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h2>1.vSLAM\u5efa\u56fe<\/h2>\n<p>\u673a\u5668\u4eba\u7aef\u542f\u52a8\u5efa\u56fe\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u5e95\u76d8base control\r\nroslaunch ros_arduino_python arduino.launch\r\n# \u542f\u52a8camera\r\nroslaunch robot_vslam camera.launch\r\n# \u542f\u52a8rtab vslam\r\nroslaunch robot_vslam rtabmap_rgbd.launch<\/code><\/pre>\n<p>\u5728 rtabmap_rgbd.launch \u542f\u52a8\u5b8c\u6210\u540e\uff0ccamera \u8282\u70b9\u548c rtabmap \u7684\u8282\u70b9\u4e2d\u4f1a\u5206\u522b\u8f93\u51fa\u4ee5\u4e0b\u4fe1\u606f(\u56e0\u4e3a\u8fd9\u91cc\u8f93\u51fa\u7684\u4fe1\u606f\u8f83\u591a\u4e14\u6709\u53c2\u8003\u4ef7\u503c\uff0c\u6240\u4ee5\u6211\u4eec\u6ca1\u6709\u5c06\u6240\u6709\u7684\u542f\u52a8\u6587\u4ef6\u5199\u6210\u4e00\u4e2a launch \u6587\u4ef6\u5728\u540c\u4e00\u4e2a\u7ec8\u7aef\u4e2d\u8f93\u51fa)<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5819\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera.png\" alt=\"\" width=\"842\" height=\"163\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera.png 842w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera-300x58.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera-768x149.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-camera-624x121.png 624w\" sizes=\"(max-width: 842px) 100vw, 842px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5821\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd.png\" alt=\"\" width=\"843\" height=\"199\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd.png 843w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd-300x71.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd-768x181.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rtabmap-rgbd-624x147.png 624w\" sizes=\"(max-width: 843px) 100vw, 843px\" \/><\/a><\/p>\n<p>PC\u7aef\u67e5\u770b\u5efa\u56fe\u8fc7\u7a0b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># PC\u7aef\u6253\u5f00rviz\u7ec8\u7aef(\u5728rviz\u7ec8\u7aef\u4e2d\u5c31\u53ef\u4ee5\u770b\u5230\u6240\u5efa\u7acb\u7684\u5e73\u9762\u5730\u56fe\u548c\u7acb\u4f53\u5730\u56fe)\r\nroslaunch robot_vslam rtabmap_rviz.launch\r\n# \u4e5f\u53ef\u4ee5\u4f7f\u7528rtabmap\u81ea\u5e26\u7684\u56fe\u5f62\u5316\u754c\u9762rtabmapviz\u5728PC\u7aef\u6765\u89c2\u6d4b\u5efa\u56fe\u8fc7\u7a0b\uff08\u4e0d\u5efa\u8bae\uff0c\u5e26\u5bbd\u5360\u7528100M\u4ee5\u4e0a\uff09\r\n# roslaunch robot_vslam rtabmapviz.launch<\/code><\/pre>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 13\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5845\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam.png\" alt=\"\" width=\"809\" height=\"388\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam.png 809w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam-300x144.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam-768x368.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-slam-624x299.png 624w\" sizes=\"(max-width: 809px) 100vw, 809px\" \/><\/a><\/p>\n<p>\u952e\u76d8\u63a7\u5236\u673a\u5668\u4eba\u79fb\u52a8\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u952e\u76d8\u63a7\u5236\r\nrosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/code><\/pre>\n<p>\u6211\u4eec\u5efa\u8bae\u662f\u5c06\u673a\u5668\u4eba\u7684\u76f4\u7ebf\u8fd0\u52a8\u901f\u5ea6\u4e0d\u8d85\u8fc7 0.2m\/s,\u65cb\u8f6c\u901f\u5ea6\u4e0d\u8d85\u8fc7 0.4rad\/s \u4ee5\u4fdd\u8bc1\u5efa\u56fe\u8d28\u91cf\u3002\u5efa\u56fe\u8fc7\u7a0b\u548c\u6fc0\u5149\u96f7\u8fbe\u5efa\u56fe\u57fa\u672c\u4e00\u81f4\uff0c\u9065\u63a7\u673a\u5668\u4eba\u5728\u73af\u5883\u4e2d\u904d\u5386\u4e00\u904d\u5b8c\u6210\u5efa\u56fe\u3002<\/p>\n<p>\u5730\u56fe\u662f\u9ed8\u8ba4\u4fdd\u5b58\u5728\u673a\u5668\u4eba\u7aef<span style=\"color: #ff0000;\">~\/.ros\/rtabmap.db<\/span> \u6587\u4ef6\u4e2d\uff0c\u7531\u4e8e\u8fd9\u4e2a\u6587\u4ef6\u5305\u542b\u4e86\u5efa\u56fe\u8fc7\u7a0b\u4e2d\u7684\u56fe\u7247\u548c\u7279\u5f81\u70b9\u7684\u4fe1\u606f\uff0c\u6240\u4ee5\u6587\u4ef6\u4f1a\u6bd4\u8f83\u5927\u3002<\/p>\n<p>\u6ce8\u610f:<span style=\"color: #ff0000;\">\u542f\u52a8 roslaunch robot_vslam rtabmap_rgbd.launch \u90fd\u4f1a\u8986\u76d6\u6389 rtabmap.db \u6587\u4ef6<\/span>\uff0c\u5982\u679c\u9700\u8981\u4fdd\u7559\u4e0a\u6b21\u5efa\u56fe\u7684\u7ed3\u679c\uff0c\u6ce8\u610f<span style=\"color: #ff0000;\">\u5907\u4efd<\/span>\u6587\u4ef6\u3002<\/p>\n<p>\u5efa\u56fe\u5b8c\u6210\u540e rviz \u4e2d\u7684\u5730\u56fe\u5982\u4e0b\u6240\u793a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5822\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz.png\" alt=\"\" width=\"805\" height=\"477\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz.png 805w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-300x178.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-768x455.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-624x370.png 624w\" sizes=\"(max-width: 805px) 100vw, 805px\" \/><\/a><\/p>\n<p>\u8fd9\u91cc\u6211\u4eec\u4e5f\u53ef\u4ee5\u4fee\u6539\u70b9\u4e91\u663e\u793a\u7684\u989c\u8272\u6765\u5b9e\u73b0\u5176\u4ed6\u6548\u679c\uff0c\u4f8b\u5982\u8fd9\u6837<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-set.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5824\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-set.png\" alt=\"\" width=\"469\" height=\"258\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-set.png 469w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-set-300x165.png 300w\" sizes=\"(max-width: 469px) 100vw, 469px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-axis.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-5823\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-axis.png\" alt=\"\" width=\"448\" height=\"309\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-axis.png 448w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/vslam-rviz-axis-300x207.png 300w\" sizes=\"(max-width: 448px) 100vw, 448px\" \/><\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 14\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h2>2.\u5bfc\u822a<\/h2>\n<p>\u673a\u5668\u4eba\u7aef\u6253\u5f00\u56db\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c:<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u5e95\u76d8base control\r\nroslaunch ros_arduino_python arduino.launch\r\n# \u542f\u52a8camera\r\nroslaunch robot_vslam camera.launch\r\n# \u542f\u52a8rtab+movebase\u5e76\u81ea\u52a8\u5b9a\u4f4d\uff08\u7eaf\u524d\u5411\u89c6\u89c9\u65e0\u6cd5\u540e\u9000\uff09\r\nroslaunch robot_vslam rtabmap_rgbd.launch localization:=true planner:=dwa move_forward_only:=true<\/code><\/pre>\n<p>\u8fd9\u91cc move_base \u7684 planner \u53c2\u6570\u53ef\u4ee5\u9009\u62e9 dwa \u548c teb\uff0c\u8fd9\u90e8\u5206\u5728\u6fc0\u5149\u96f7\u8fbe\u5bfc\u822a\u90e8\u5206\u5df2\u7ecf\u4ecb\u7ecd\u8fc7\uff0c\u8fd9\u91cc\u5c31\u4e0d\u518d\u8d58\u8ff0\uff0cmove_forward_only \u53c2\u6570\u662f\u4e3a\u4e86\u53ea\u5141\u8bb8\u673a\u5668\u4eba\u5411\u524d\u8fd0\u52a8(\u89c6\u89c9\u4f20\u611f\u5668\u53ea\u6709\u524d\u5411\u611f\u77e5) \u3002\u542f\u52a8\u540e\u68c0\u67e5\u5404\u4e2a\u8282\u70b9\u6709\u65e0\u62a5\u9519\uff0c\u6b63\u5e38\u5e94\u8be5\u662f\u53ef\u4ee5\u76f4\u63a5\u5b9a\u4f4d\u6210\u529f\u7684\u3002<\/p>\n<\/div>\n<\/div>\n<div class=\"layoutArea\">\n<div class=\"column\">\n<pre class=\"pure-highlightjs\"><code class=\"\"># pc\u7aefrviz\u67e5\u770b\u548c\u63a7\u5236\r\nroslaunch robot_vslam rtabmap_rviz.launch<\/code><\/pre>\n<\/div>\n<\/div>\n<div class=\"layoutArea\">\n<div class=\"column\"><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5832\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz-1024x527.png\" alt=\"\" width=\"625\" height=\"322\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz-1024x527.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz-768x395.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz-624x321.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_rviz.png 1326w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 15\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<div class=\"layoutArea\">\n<pre class=\"pure-highlightjs\"><code class=\"\"># pc\u7aefrtabmap\u67e5\u770b\uff08\u9700\u624b\u52a8\u4e0b\u8f7d\u5168\u5c40\u5730\u56fe\uff09\r\nroslaunch robot_vslam rtabmapviz.launch<\/code><\/pre>\n<\/div>\n<div class=\"layoutArea\">\n<div class=\"column\"><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5833\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-1024x593.png\" alt=\"\" width=\"625\" height=\"362\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-1024x593.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-300x174.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-768x445.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-624x362.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz.png 1332w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/div>\n<\/div>\n<p>\u5728 rtabmapviz \u4e2d\u70b9\u51fb\u7ea2\u6846\u4e2d\u7684\u6309\u94ae\u540c\u6b65\u5730\u56fe\u6570\u636e\u5e93\u7684\u4fe1\u606f\uff0c\u53ef\u80fd\u4f1a\u82b1\u8d39\u4e00\u70b9\u65f6\u95f4\uff0c\u53d6\u51b3\u4e8e\u4f60\u7684\u5c40\u57df\u7f51\u6761\u4ef6\u3002 \u5982\u679c\u5de6\u4e0b\u4f4d\u7f6e\u4e2d\u6ca1\u6709\u51fa\u73b0\u56fe\u50cf\u4e14\u56fe\u50cf\u4e24\u4fa7\u5904\u4e3a\u9ed1\u8272\uff0c\u5219\u673a\u5668\u4eba\u5c1a\u672a\u5b8c\u6210\u521d\u59cb\u4f4d\u7f6e\u7684\u786e\u5b9a\u3002\u5982\u679c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5219\u673a\u5668\u4eba\u5df2\u7ecf\u5b8c\u6210\u5b9a\u4f4d\uff0c\u53ef\u4ee5\u5f00\u59cb\u5bfc\u822a\u65e0\u9700\u6267\u884c\u4e0b\u9762\u7684\u6b65\u9aa4(\u901a\u5e38\u673a\u5668\u4eba\u4ece\u7eb9\u7406\u6bd4\u8f83\u4e30\u5bcc\u4e14\u4e0a\u6b21\u5df2\u7ecf\u5230\u8fbe\u8fc7\u7684\u4f4d\u7f6e\u542f\u52a8\uff0c\u90fd\u53ef\u4ee5\u76f4\u63a5\u5b8c\u6210\u5b9a\u4f4d\uff0c\u8fd9\u91cc\u6587\u6863\u4e2d\u662f\u4e3a\u4e86\u8bf4\u660e\u521d\u59cb\u5b9a\u4f4d\u8fd9\u4e00\u8fc7\u7a0b\u6545\u610f\u4ece\u4e00\u5904\u51e0\u4e4e\u6ca1\u6709\u7eb9\u7406\u7684\u533a\u57df\u542f\u52a8\u4f7f\u673a\u5668\u4eba\u4e0d\u80fd\u5b8c\u6210\u521d\u59cb\u5b9a\u4f4d)<\/p>\n<p>\u5982\u679c\u6ca1\u6709\u81ea\u52a8\u5b9a\u4f4d\u6210\u529f\uff0c\u5219\u53ef\u4ee5\u5728 PC \u7aef\u6216\u673a\u5668\u4eba\u7aef\u542f\u52a8\u4e00\u4e2a\u952e\u76d8\u63a7\u5236\u8282\u70b9\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/code><\/pre>\n<p>\u63a7\u5236\u6162\u901f\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u76f4\u5230\u5de6\u4e0b\u89d2\u4f4d\u7f6e\u51fa\u73b0\u56fe\u50cf\u4e14\u4e24\u4fa7\u4e3a\u7eff\u8272\u8868\u793a\u5b9a\u4f4d\u6210\u529f<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5835\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show-1024x597.png\" alt=\"\" width=\"625\" height=\"364\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show-1024x597.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show-300x175.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show-768x447.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show-624x364.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-show.png 1198w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u63a5\u4e0b\u6765\u5c31\u53ef\u4ee5\u5728\u5730\u56fe\u4e2d\u6307\u5b9a\u76ee\u6807\u70b9\u8ba9\u673a\u5668\u4eba\u5bfc\u822a\u8fc7\u53bb\u4e86\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5836\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target-1024x619.png\" alt=\"\" width=\"625\" height=\"378\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target-1024x619.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target-300x181.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target-768x465.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target-624x377.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmapviz-target.png 1296w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u6ce8\u610f\uff1argbd \u76f8\u673a\u7684\u89c6\u573a\u89d2\u8f83\u5c0f\uff0c\u4e14\u6df1\u5ea6\u4fe1\u606f\u5b58\u5728\u8f83\u5927\u7684\u76f2\u533a\uff0c\u5728\u5bfc\u822a\u4e2d\u6709\u53ef\u80fd\u4f1a\u53d1\u751f\u78b0\u649e\uff0c\u53ef\u4ee5\u901a\u8fc7\u8c03\u8282\u589e\u5927 robot_vslam\/param\/MarsRobot\/costmap_common_params.yaml\u4e2d\u7684inflation_radius \u53c2\u6570\u6765\u6539\u5584\uff0c\u4f46\u662f\u5f88\u96be\u8fbe\u5230\u548c\u6fc0\u5149\u96f7\u8fbe\u5bfc\u822a\u6216rgbd\u76f8\u673a+\u6fc0\u5149\u96f7\u8fbe\u7684\u6548\u679c\u3002<\/p>\n<p>&nbsp;<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 16\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h1>\u56db\u3001\u89c6\u89c9+\u6fc0\u5149\u96f7\u8fbe\u5efa\u56fe\u53ca\u5bfc\u822a<\/h1>\n<h2>1.\u89c6\u89c9+\u6fc0\u5149\u96f7\u8fbe\u5efa\u56fe<\/h2>\n<p>\u8fd9\u91cc\u64cd\u4f5c\u8fc7\u7a0b\u548c\u7b2c\u4e09\u7ae0\u8282\u5b8c\u5168\u4e00\u81f4\uff0c\u53ea\u662f\u90e8\u5206\u542f\u52a8\u6307\u4ee4\u6709\u5dee\u5f02\uff0c\u6240\u4ee5\u8fd9\u91cc\u53ea\u5217\u51fa\u542f\u52a8\u6307\u4ee4\uff0c\u4e0d\u518d\u63cf\u8ff0\u64cd\u4f5c\u8fc7\u7a0b\u3002<br \/>\n\u673a\u5668\u4eba\u7aef\u6253\u5f00\u4e09\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c:<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u6fc0\u5149\u96f7\u8fbe+base_control\r\nroslaunch robot_navigation robot_lidar.launch \r\n# \u542f\u52a8\u6df1\u5ea6\u6444\u50cf\u5934\r\nroslaunch robot_vslam camera.launch \r\n# \u542f\u52a8rgbd+lidar\u8054\u5408\u5efa\u56fe\r\nroslaunch robot_vslam rtabmap_rgbd_lidar.launch\r\n\r\n# pc\u7aef\u67e5\u770b\r\nroslaunch robot_vslam rtabmap_rviz.launch\r\n# pc\u7aef\u63a7\u5236\u79fb\u52a8\r\nrosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/code><\/pre>\n<p>\u6211\u4eec\u5efa\u8bae\u662f\u5c06\u673a\u5668\u4eba\u7684\u76f4\u7ebf\u8fd0\u52a8\u901f\u5ea6\u4e0d\u8d85\u8fc7 0.2m\/s,\u65cb\u8f6c\u901f\u5ea6\u4e0d\u8d85\u8fc7 0.4rad\/s \u4ee5\u4fdd\u8bc1\u5efa\u56fe\u8d28\u91cf\u5efa\u56fe\u8fc7\u7a0b\u548c\u6fc0\u5149\u96f7\u8fbe\u5efa\u56fe\u57fa\u672c\u4e00\u81f4\uff0c\u9065\u63a7\u673a\u5668\u4eba\u5728\u73af\u5883\u4e2d\u904d\u5386\u4e00\u904d\u5b8c\u6210\u5efa\u56fe\u3002\u8fd9\u91cc\u53ef\u4ee5\u770b\u5230\uff0c\u7531\u4e8e\u52a0\u5165\u4e86360 \u5ea6\u7684\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u5efa\u56fe\u5728 2D \u7684\u5730\u56fe\u65b9\u9762\u8868\u73b0\u8981\u66f4\u597d\u4e00\u4e9b\u3002<a style=\"font-size: 1rem;\" href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5838\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar-1024x623.png\" alt=\"\" width=\"625\" height=\"380\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar-1024x623.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar-300x183.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar-768x467.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar-624x380.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rtabmap_lidar.png 1426w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"page\" title=\"Page 17\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h2>2.\u89c6\u89c9vSLAM +\u6fc0\u5149\u96f7\u8fbe\u5bfc\u822a<\/h2>\n<p>\u673a\u5668\u4eba\u7aef\u6253\u5f00\u56db\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c:<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8\u6fc0\u5149\u96f7\u8fbe+base_control\r\nroslaunch robot_navigation robot_lidar.launch \r\n# \u542f\u52a8camera \r\nroslaunch robot_vslam camera.launch \r\n# \u542f\u52a8rtab+movebase\u5e76\u81ea\u52a8\u5b9a\u4f4d\uff08\u5141\u8bb8\u540e\u9000\uff09 \r\nroslaunch robot_vslam rtabmap_rgbd_lidar.launch localization:=true planner:=dwa move_forward_only:=false\r\n\r\n# pc\u7aef\u67e5\u770b\r\nroslaunch robot_vslam rtabmap_rviz.launch\r\nroslaunch robot_vslam rtabmapviz.launch<\/code><\/pre>\n<\/div>\n<div class=\"column\">\n<p>\u8fd9\u91cc\u7531\u4e8e\u52a0\u5165\u4e86 360 \u5ea6\u7684\u6fc0\u5149\u96f7\u8fbe\uff0c\u673a\u5668\u4eba\u5177\u5907\u4e86\u5168\u5411\u7684\u611f\u77e5\u80fd\u529b\uff0c\u6240\u4ee5\u53ef\u4ee5\u5c06 move_forward_only \u53c2\u6570\u8bbe\u7f6e\u4e3a false \u5141\u8bb8\u673a\u5668\u4eba\u5411\u540e\u8fd0\u52a8\u3002<a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-5839\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation-1024x529.png\" alt=\"\" width=\"625\" height=\"323\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation-1024x529.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation-300x155.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation-768x397.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation-624x322.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/01\/rgbd_lidar_navigation.png 1432w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a>\u4eca\u5929\u5e26\u5927\u5bb6\u5b66\u4e60\u4e86\u5982\u4f55\u4f7f\u7528\u6df1\u5ea6\u76f8\u673a\u5b9e\u73b0\u89c6\u89c9slam\u5efa\u56fe\u548c\u5bfc\u822a\uff0c\u540c\u65f6\u6211\u4eec\u4e5f\u5c1d\u8bd5\u4e86\u89c6\u89c9+\u6fc0\u5149\u96f7\u8fbe\u7684\u534f\u540c\u4f7f\u7528\uff0c\u673a\u5668\u4eba\u5728\u969c\u788d\u7269\u611f\u77e5\u548c\u907f\u969c\u65b9\u9762\u6709\u4e86\u660e\u663e\u6539\u5584\uff0c\u540c\u65f6\u901a\u8fc7\u6444\u50cf\u5934\u6211\u4eec\u4e5f\u80fd\u66f4\u65b9\u4fbf\u7684\u5b9e\u73b0\u8fdc\u7a0b\u76d1\u63a7\u548c\u63a7\u5236\u3002\u4e0b\u4e00\u6b21\u4f60\u60f3\u770b\u5230\u4ec0\u4e48\u5462\uff1f\u6b22\u8fce\u7559\u8a00\uff0c\u6211\u5c06\u5e26\u5927\u5bb6\u4e00\u8d77\u5b9e\u73b0\uff5e\uff01<\/p>\n<\/div>\n<\/div>\n<\/div>\n<p>&nbsp;<\/p>\n<p>yan 22.1.9<\/p>\n<p>&nbsp;<\/p>\n<div class=\"page\" title=\"Page 17\">\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/www.cnblogs.com\/li-yao7758258\/p\/11191878.html\" target=\"_blank\" rel=\"noopener noreferrer\">\u4e09\u79cd\u4e3b\u6d41\u6df1\u5ea6\u76f8\u673a\u4ecb\u7ecd<\/a><\/p>\n<p><a href=\"http:\/\/wiki.ros.org\/rtabmap_ros\/Tutorials\" target=\"_blank\" rel=\"noopener noreferrer\">rtabmap_ros\u5b98\u65b9\u6559\u7a0b<\/a><\/p>\n<p><a href=\"https:\/\/www.bilibili.com\/video\/av78570902\" target=\"_blank\" rel=\"noopener noreferrer\">\u6df1\u5ea6\/RGB-D\u76f8\u673a\u7b80\u4ecb<\/a><\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u6b21\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86\u6fc0\u5149\u96f7\u8fbe+\u81ea\u7814\u5e95\u76d8\u7684SLAM\u5efa\u56fe\u548c\u5bfc\u822a\u3002\u8fd9\u6b21\u5c06\u5e26\u5927\u5bb6\u5b66\u4e60\u5982\u4f55\u4f7f\u7528\u6df1\u5ea6\u76f8\u673a\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u89c6\u89c9SL [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1005,1293],"tags":[1165,968,967,1167,1166],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/5756"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=5756"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/5756\/revisions"}],"predecessor-version":[{"id":8642,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/5756\/revisions\/8642"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5756"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=5756"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=5756"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}