ROS Stage学习

首先看了wiki上的文档http://wiki.ros.org/stage_ros
介绍：
stageros 是一个2D的机器人模拟器，主要通过.world文件来定义这个仿真世界。包括机器人，lidar，camera和障碍物等等。

Stage在设计中就考虑到了多智能体系统的问题，可以提供对多机器人系统的测试仿真。需要了解的是Stage只提供了真正简单，可计算的廉价的设备模式，而无法非常精密地仿真任何具体的设备终端。

Uasge
rosrun stage_ros stageros [-g runs headless] < world > [standard ROS args]
world : 要加载的.world文件
-g : 如果设置，此选项将以“headless”运行模拟器，不显示任何GUIsgare
还有其他选项:usage/option

上面的的是wiki上说的用法
我自己使用的
rosrun stage_ros stageros < world >
world:要加载的.world文件路径
ex：

$ rosrun stage_ros stageros /opt/ros/kinetic/share/stage_ros/world/willow-erratic.world

stage是ros自带的，所以直接取根目录下能找到对应的功能包
看看效果：
现在可以用

rostopic list

查看下效果
可以看到运行.world文件抛出了cmd_vel话题，那么我们可以订阅相关话题来跑slam导航算法。

那么可以知道ros stage中最重要的是.world文件

.world文件语法：ROS-Stage
World
Stage仿真出的"world"是由"model"组成的，在‘wroldfile’中定义

world
(//the name of the world, as displayed in the window title bar. Defaults to the worldfile file name.name            "[filename of worldfile]"//the length of each simulation update cycle in milliseconds.interval_real   100//the amount of real-world (wall-clock) time the siulator will attempt to spend on each simulation cycle.interval_sim    100//the amount of real-world time between GUI updatesgui_interval    100//specifies the resolution of the underlying bitmap model. Larger values speed up raytracing at the expense of fidelity in collision detection and sensing.resolution      0.0)

Window
模拟器的窗口包含了菜单栏、状态栏和仿真出的"world"

window
(# gui propertiescenter [0 0]size [700 740]     //窗口大小scale 1.0# model properties do not apply to the gui window
)

Model
仿真出的model有一些基础属性：位置，大小，速度，颜色，各种传感器的可见性等，一些基础模型是由可以由其他模型对象来实现

model
(pose [0 0 0]           //specify the pose of the model in its parent's coordinate systemsize [1.0 1.0]        //specify the size of the modelorigin [0 0 0]       //specify the position of the object's center, relative to its posevelocity [0 0 0]        //specify the initial velocity of the model. Not that if the model hits an obstacle, its velocity will be set to zero.# body colorcolor "red" # determine how the model appears in various sensorsobstacle_return 1       //if 1, this model can collide with other models that have this property setlaser_return 1      //if 0, this model is not detected by laser sensors. if 1, the model shows up in a laser sensor with normal (0) reflectance. If 2, it shows up with high (1) reflectance.ranger_return 1        //if 1, this model can be detected by ranger sensorsblobfinder_return 1 //if 1, this model can be detected in the blob_finder (depending on its color)fiducial_return 1     //fiducial_return [fiducial_id:int]  if non-zero, this model is detected by fiducialfinder sensors. The value is used as the fiducial ID.gripper_return 0       //iff 1, this model can be gripped by a gripper and can be pushed around by collisions with anything that has a non-zero obstacle_return.audio_return 0     //if 1, this model will be an obstacle to audio and will be used to precalculate the audio paths. warning: don't use this for moving objectsfiducial_key 0# GUI propertiesgui_nose 0       //if 1, draw a nose on the model showing its heading (positive X axis)gui_grid 0        //if 1, draw a scaling grid over the modelgui_boundary 0    //if 1, draw a bounding box around the model, indicating its sizegui_movemask ? //gui_movemask[int]   define how the model can be moved by the mouse in the GUI window# unit square body shapepolygons 1polygon[0].points 4polygon[0].point[0] [0 0]polygon[0].point[1] [0 1]polygon[0].point[2] [1 1]polygon[0].point[3] [1 0]bitmap ""
)

提供了几种模型

1.Postion model
postion model 仿真了一个移动机器人底盘

position(
#position propertise
drive "diff"
velocity[0.0 0.0 0.0 0.0]localization "gps"
localization_origin[<default to model's srart pose>]#odometry error model parameters,only used if localization is set to "odom"
odom_error [0.03 0.03 0.00 0.05]#only used if drive is set to "car"
wheelbase 1.0#[xmin xmax ymin ymax zmin zmax zmin amax ]
velocity_bounds [-1 1 -1 1 -1 1 -90 90 ]
acceleration_bounds [-1 1 -1 1 -1 1 -90 90]#model properties
)

PS: 在1.6.5版本之后，odom这一项被删除类，取而代之的是localization_origin
1.使用“gps”可以得到准确的位置信息，使用odom会产生误差，如果非要使用odom则代码中会使用odom_erro这个向量
2.localization_origin[x y z theta]
3.velocaity [x:< float > y z heading ]
4.velocaity[xmin xmax ymin ymax zmin zmax amin amax] xyz线速度范围，a角速度范围
5.wheelbase 将小车的速度预设为1m/s

2.Ranger传感器模型

ranger
(# ranger propertiesscount 16spose[0] [? ? ?]spose[1] [? ? ?]spose[2] [? ? ?]spose[3] [? ? ?]spose[4] [? ? ?]spose[5] [? ? ?]spose[6] [? ? ?]spose[7] [? ? ?]spose[8] [? ? ?]spose[9] [? ? ?]spose[10] [? ? ?]spose[11] [? ? ?]spose[12] [? ? ?]spose[13] [? ? ?]spose[14] [? ? ?]spose[15] [? ? ?]ssize [0.01 0.03]sview [0.0 5.0 5.0]# model propertieswatts 2.0
)

Note：
The ranger model allows configuration of the pose, size and view parameters of each transducer seperately (using spose[index], ssize[index] and sview[index]). However, most users will set a common size and view (using ssize and sview), and just specify individual transducer poses.

3.Laser Model

laser
(# laser propertiessamples 180    //每次扫描180个样本点range_min 0.0range_max 8.0fov 180.0   //扫描角度# model propertiessize [0.15 0.15]color "blue"watts 17.5 # approximately correct for SICK LMS200
)

定义一个移动机器人跑slam

define kinetic ranger(
sensor(range[0.05 10 ] //激光范围fov 180.0 //角度samples 700 //激光束
)
#generic model properties
color “black”
size [ 0.4 0.4 0.1]
)define block model(
size [0.4 0.4 0.1]
gui_nose 0 //是否有箭头指示
)define turtlebot position model(
pose [0 0 0 0]
odom_error [0.00 0.00 1111 0.02]size [1.3 0.8 0.4]
origin [0.0 0.0 0.0 0.0]
gui_nose 1
drive "onmi"
color "gray"
block(pose [0.7000 0.000 0.000 0.000] color "red")
kinect(pose [ 0.065 0.0 0.3 0.0])
)

花了几天时间还是把ros stage搞明白了

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