1. 编译工具安装
bash
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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
bash
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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
python
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#!/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
bash
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# 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
