如何给Pepper机器人配置ROS使其可以到达指定地点

目的很简单，能让Pepper从电梯口走到指定房间里。

大致上是参考的这篇文章
使用Pepper with ROS
但是这篇文章有细节上错的地方。
这里主要是纠正以下错误，并且给出安装中常见问题的解决方式

1.文章3.4步rosdep update

这里会有常见的time out报错我试了如下方法解决的
参考博客
然后多跑几次。

2.文章4.1步和4.2顺序反了

不得不说这一步的报错简直致命，我卡在这一步好久。
如果按照顺序会有如下报错，我一直去搜索如何解决依赖冲突，但是那是个死循环多亏了下面这篇博客根本不是没安装的问题！是没找到！

3.文章5.1步

运行roscore时候报错 Unable to contact my own server at的解决方法

4.文章5.2步

首先<>符号要换成单引号这是报错时我参考的博客。network_interface建议自己还是ifconfig命令查看以下，有的还真没在那篇文章选项里，比如我是wlp8s0。

5.文章6.2步

正常来说这里会报错是因为没有安装gmapping，可以自行搜素一下错误的解决方案。

6.得到了地图

7.打开地图

7.1 用ROS的命令roscd可以直接进入到文件夹catkin_ws
7.2 可以在文件夹里面打开文件也可以加入文件路径roslaunch pepper-ros-navigation navigation.launch map_file:=路径

但是目前存在一个问题，就是有的时候打开地图，机器人并没有在地图起始点。可能是某一步骤细节没注意到。目前还没有找到怎么把机器人拖动到地图某个位置的办法。

8.定点移动

由于楼道很长，ROS的路径规划算法是选择最优路线，走着走着就会很靠墙。pepper机器人防碰撞会在靠墙一定距离时选择停下，一旦停下就不会再走。
解决办法是在楼道地图上指定多个不靠墙的点，规定机器人移动必须经过这些点。

9.关于ROS的一些零碎但是有点用的知识

9.1 ROS喜欢称之为节点的东西其实就是进程
9.2 ROS目前支持的系统平台有: Ubuntu. osx.Debin。ROS在Ubuntu上的支持是最好的。建议内存4G或以上(内存太小，有些3D模拟可能运行不起来)。ROS是需要运行在Ubuntu操作系统之上，建议使用Ubuntu16.04和ROS Kinetic。理由是: ROS Kinetic 和Ubuntu 16.04都是长期维护版本(LTS)，并且ROS Kinetic 是专门为Ubuntu16.04量身定做。
9.3
catkin_ws 是用户创建的工程文件目录(可以任意命名)，包含整个工程;

src 目录是用户创建的功能包集合(不能修改名称)，包含一个或多个功能包;
build 目录是系统在编译src中的功能包时自动生成的，包含缓存信息和中间文件;
devel 目录是系统在编译src中的功能包时自动生成的，包含生成的目标文件、环境变量。

这个pepper官方提供的包装在src文件夹相当于package 是用户创建的功能包

CMakeLists.txt-------package的编译规则(必须)
package.xml-------package的描述信息(必须)
launch/启动文件
include/C++头文件
src/源代码文件
scripts/可执行脚本
msg/自定义消息
srv/自定义服务
action/自定义action服务
urdf/urdf文件

10.详细代码

新建地图步骤
1.启动ros core节点管理器
roscore
2.在关闭自主模式下连接pepper
roslaunch pepper_bringup pepper_full.launch nao_ip:='192.168.43.64' roscore_ip:='127.0.0.1' network_interface:='wlp8s0'
3.启动rviz
rosrun rviz rviz -d ~/catkin_ws/src/pepper-ros-navigation/config/pepper.rviz
4.启动gmapping
roslaunch pepper-ros-navigation gmapping.launch
__(rostopic echo /move_base_simple/goal)
5.保存地图在某个路径cdros
rosrun map_server map_saver -f 文件名
6.打开你建的地图
roslaunch pepper-ros-navigation navigation.launch map_file:=路径
__(/home/elaine/catkin_ws/src/pepper-ros-navigation/launch/maps/map3.yaml)定点巡逻:
1.启动ros core节点管理器
roscore
2.在关闭自主模式下连接pepper
roslaunch pepper_bringup pepper_full.launch nao_ip:='192.168.199.216' roscore_ip:='127.0.0.1' network_interface:='wlp8s0'
3.打开你建的地图
roslaunch pepper-ros-navigation navigation.launch map_file:=/home/elaine/catkin_ws/src/pepper-ros-navigation/launch/maps/map3.yaml
4.开始巡逻,设置定点巡逻次数为两次
roslaunch pepper-ros-navigation way_point.launch loopTimes:=2

way_point.launch文件

<launch><!-- For Simulation --><arg name="sim_mode" default="false" /><param name="/use_sim_time" value="$(arg sim_mode)"/><arg name="loopTimes"       default="0" /><!-- move bas --><node pkg="pepper-ros-navigation" type="way_point.py" respawn="false" name="way_point" output="screen" launch-prefix="gnome-terminal -x"><!-- params for move_base --><param name="goalListX" value="[1.2,0.1,1.1]" /><param name="goalListY" value="[0.4,-1.0,-0.5]" /><param name="goalListZ" value="[0.0,0.0,0.0]" /><param name="loopTimes" value="$(arg loopTimes)" /><param name="map_frame" value="map" /></node>
</launch>

way_point.py脚本

#!/usr/bin/python
# coding=gbk# Copyright 2020 Wechange Tech.
# Developer: FuZhi, Liu (liu.fuzhi@wechangetech.com)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.import rospy
import string
import math
import time
import sysfrom std_msgs.msg import String
from move_base_msgs.msg import MoveBaseActionResult
from actionlib_msgs.msg import GoalStatusArray
from geometry_msgs.msg import PoseStamped
import tf
class MultiGoals:def __init__(self, goalListX, goalListY, goalListZ,loopTimes, map_frame):self.sub = rospy.Subscriber('move_base/result', MoveBaseActionResult, self.statusCB, queue_size=10)self.pub = rospy.Publisher('move_base_simple/goal', PoseStamped, queue_size=10)   # params & variablesself.goalListX = goalListXself.goalListY = goalListYself.goalListZ = goalListZself.loopTimes = loopTimesself.loop = 1self.wayPointFinished = False self.goalId = 0self.goalMsg = PoseStamped()self.goalMsg.header.frame_id = map_frameself.goalMsg.pose.orientation.z = 0.0self.goalMsg.pose.orientation.w = 1.0# Publish the first goaltime.sleep(1)self.goalMsg.header.stamp = rospy.Time.now()self.goalMsg.pose.position.x = self.goalListX[self.goalId]self.goalMsg.pose.position.y = self.goalListY[self.goalId]self.goalMsg.pose.orientation.x = 0.0self.goalMsg.pose.orientation.y = 0.0if abs(self.goalListZ[self.goalId]) > 1.0:self.goalMsg.pose.orientation.z = 0.0self.goalMsg.pose.orientation.w = 1.0else:w = math.sqrt(1 - (self.goalListZ[self.goalId]) ** 2)self.goalMsg.pose.orientation.z = self.goalListZ[self.goalId]self.goalMsg.pose.orientation.w = wself.pub.publish(self.goalMsg) rospy.loginfo("Current Goal ID is: %d", self.goalId)   self.goalId = self.goalId + 1 def statusCB(self, data):if self.loopTimes and (self.loop > self.loopTimes):rospy.loginfo("Loop: %d Times Finshed", self.loopTimes)self.wayPointFinished = Trueif data.status.status == 3 and (not self.wayPointFinished): # reachedself.goalMsg.header.stamp = rospy.Time.now()                self.goalMsg.pose.position.x = self.goalListX[self.goalId]self.goalMsg.pose.position.y = self.goalListY[self.goalId]if abs(self.goalListZ[self.goalId]) > 1.0:self.goalMsg.pose.orientation.z = 0.0self.goalMsg.pose.orientation.w = 1.0else:w = math.sqrt(1 - (self.goalListZ[self.goalId]) ** 2)self.goalMsg.pose.orientation.z = self.goalListZ[self.goalId]self.goalMsg.pose.orientation.w = wself.pub.publish(self.goalMsg)  rospy.loginfo("Current Goal ID is: %d", self.goalId)              if self.goalId < (len(self.goalListX)-1):self.goalId = self.goalId + 1else:self.goalId = 0self.loop += 1if __name__ == "__main__":try:    # ROS Init    rospy.init_node('way_point', anonymous=True)# Get paramsgoalListX = rospy.get_param('~goalListX', '[2.0, 2.0]')goalListY = rospy.get_param('~goalListY', '[2.0, 4.0]')goalListZ = rospy.get_param('~goalListZ', '[0.0, 0.0]')map_frame = rospy.get_param('~map_frame', 'map' )loopTimes = int(rospy.get_param('~loopTimes', '0')) goalListX = goalListX.replace("[","").replace("]","")goalListY = goalListY.replace("[","").replace("]","")goalListZ = goalListZ.replace("[","").replace("]","")goalListX = [float(x) for x in goalListX.split(",")]goalListY = [float(y) for y in goalListY.split(",")]goalListZ = [float(z) for z in goalListZ.split(",")]if len(goalListX) == len(goalListY) == len(goalListZ) & len(goalListY) >=2:          # Constract MultiGoals Objrospy.loginfo("Multi Goals Executing...")mg = MultiGoals(goalListX, goalListY, goalListZ, loopTimes, map_frame)          rospy.spin()else:rospy.errinfo("Lengths of goal lists are not the same")except KeyboardInterrupt:print("shutting down")

参考视频