ROS机器人Diego 1#制作（十三）launch启动文件

Diego 1#中已经整合了不少的组件，一个一个启动比较麻烦，这里整理了一份启动的launch文件。

<launch>
  <master auto="start"/>

  <arg name="camera" default="camera" />

  <node pkg="xfei_asr" type="tts_subscribe_speak" name="tts_subscribe_speak" output="screen">
  </node>

  <node pkg="sound_play" type="soundplay_node.py" name="soundplay_node" output="screen">
  </node>

  <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
  </node>  

  <node pkg="diego_nav" type="robot_camera_tf_publisher" name="robot_camera_tf_publisher" output="screen">
  </node>    

  <node pkg="diego_nav" type="robot_laser_tf_publisher" name="robot_laser_tf_publisher" output="screen">
  </node> 

  <!-- start sensor-->
  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="camera" default="$(arg camera)"/>
  </include>

  <!-- run pointcloud_to_laserscan node -->
  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
      <remap from="cloud_in" to="$(arg camera)/depth_registered/points"/>
      <remap from="scan" to="$(arg camera)/scan"/>
      <rosparam>
          target_frame: camera_link # Leave disabled to output scan in pointcloud frame
          transform_tolerance: 0.01
          min_height: 0.0
          max_height: 1.0

          angle_min: -1.5708 # -M_PI/2
          angle_max: 1.5708 # M_PI/2
          angle_increment: 0.087 # M_PI/360.0
          scan_time: 0.3333
          range_min: 0.45
          range_max: 4.0
          use_inf: true

          # Concurrency level, affects number of pointclouds queued for processing and number of threads used
          # 0 : Detect number of cores
          # 1 : Single threaded
          # 2->inf : Parallelism level
          concurrency_level: 1
      </rosparam>

  </node>  

  <!-- gmapping node -->

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <remap from="scan" to="$(arg camera)/scan"/>
    <param name="delta" value="0.1"/>
    <param name="maxUrange" value="4.99"/>
       <param name="xmin" value="-5.0"/>
       <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="particles" value="60"/>
    <param name="srr" value="0"/>
    <param name="srt" value="0"/>
    <param name="str" value="0.05"/>
    <param name="stt" value="0.05"/>
    <param name="minimumScore" value="200"/>
    <param name="map_update_interval" value="1"/>
    <param name="lsigma" value="0.05"/>
  </node>  

  <!-- amcl node -->
  <node pkg="amcl" type="amcl" name="amcl" output="screen">

  <remap from="scan" to="$(arg camera)/scan"/>
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="use_map_topic" value="true"/>
  <param name="odom_model_type" value="omni"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.5" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="300"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.1"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.1"/>
  <param name="odom_alpha2" value="0.1"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.1"/>
  <param name="odom_alpha4" value="0.1"/>
  <param name="laser_z_hit" value="0.9"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_min_range" value="1"/>
  <param name="laser_max_range" value="5"/>
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>


  </node>

  <!-- move_base node -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find diego_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find diego_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find diego_nav)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find diego_nav)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find diego_nav)/config/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

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遇到一个比较奇怪的问题，OpenNI放在此launch文件中一起启动时，不知道为什么会有xtion启动不起来的情况，但单独启动openni却可以启动。所以可以把此文件中启动openni的部分注释掉，分别在两个终端启动

roslaunch openni_launch openni.launch 
roslaunch diego_nav diego_run.launch

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我的包名名称是diego_nav, launch文件名称是diego_run.launch

查看tf关系

rosrun tf view_frames

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查看节点关系

rosrun rqt_graph rqt_graph

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查看xtion的图像

rqt_image_view

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启动rviz

rosrun rviz rviz

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