ROS2 命令
查看所有话题命令
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 topic list
/clock 仿真时间
/cmd_vel 速度控制指令
/joint_states diff-drive 车就是左右轮速度
/odom 里程计（轮速积分 / VIO / LIO）
/parameter_events 参数动态更新事件（ROS2 特性）
/robot_description URDF/Xacro 模型
/rosout 日志
/scan 2D 激光雷达（LaserScan）
/tf
/tf_static
查看某个 topic 内容
ros2 topic echo /odom
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 topic echo /odom --once
header:
stamp:
sec: 1349
nanosec: 528000000
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: -2.4061772566193e-16
y: 3.439324033025337e-20
z: 0.0
orientation:
x: 1.8564213169799222e-16
y: 1.8418753201651656e-10
z: 4.2665331719987095e-19
w: 1.0
covariance:
- 0.0
- 0.0
- - -
- 0.0
- 0.0
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance:
- 0.0
- 0.0
- 0.0
- - -
- 0.0
---
查看topic类型
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 topic type /scan
sensor_msgs/msg/LaserScan
查看 topic 发布频率
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 topic hz /scan
average rate: 10.003
min: 0.100s max: 0.100s std dev: 0.00015s window: 12
average rate: 10.000
min: 0.100s max: 0.101s std dev: 0.00020s window: 22
average rate: 10.001
min: 0.099s max: 0.101s std dev: 0.00038s window: 33
average rate: 10.000
min: 0.099s max: 0.101s std dev: 0.00036s window: 44
查看 topic 带宽（调网络问题）
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 topic bw /scan
WARNING: topic [/scan] does not appear to be published yet
Subscribed to [/scan]
29.59 KB/s from 10 messages
Message size mean: 2.94 KB min: 2.94 KB max: 2.94 KB
29.52 KB/s from 20 messages
Message size mean: 2.94 KB min: 2.94 KB max: 2.94 KB
29.49 KB/s from 30 messages
Message size mean: 2.94 KB min: 2.94 KB max: 2.94 KB
29.48 KB/s from 40 messages
查看TF树
ros2 run tf2_tools view_frames
odom
└── base_link (rate: 29.6 Hz, 缓冲: 5.0秒)
├── gps (rate: 10000 Hz, 无有效数据)
├── rear_gps (rate: 10000 Hz, 无有效数据)
├── lidar_left (rate: 10000 Hz, 无有效数据)
├── lidar_right (rate: 10000 Hz, 无有效数据)
├── lidar_link (rate: 10000 Hz, 无有效数据)
├── front_left_wheel_steer_link
│ ├── front_left_wheel_link (rate: 10000 Hz, 无有效数据)
│ └── front_left_wheel_motor_link (rate: 10000 Hz, 无有效数据)
├── front_right_wheel_steer_link
│ ├── front_right_wheel_link (rate: 10000 Hz, 无有效数据)
│ └── front_right_wheel_motor_link (rate: 10000 Hz, 无有效数据)
├── rear_left_wheel_steer_link
│ ├── rear_left_wheel_link (rate: 10000 Hz, 无有效数据)
│ └── rear_left_wheel_motor_link (rate: 10000 Hz, 无有效数据)
└── rear_right_wheel_steer_link
├── rear_right_wheel_link (rate: 10000 Hz, 无有效数据)
└── rear_right_wheel_motor_link (rate: 10000 Hz, 无有效数据)
查看所有节点命令
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 node list
/robot_state_publisher
/ros_gz_bridge
查看单个节点信息命令
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 node info /robot_state_publisher
/robot_state_publisher
Subscribers:
/clock: rosgraph_msgs/msg/Clock
/joint_states: sensor_msgs/msg/JointState
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/parameter_events: rcl_interfaces/msg/ParameterEvent
/robot_description: std_msgs/msg/String
/rosout: rcl_interfaces/msg/Log
/tf: tf2_msgs/msg/TFMessage
/tf_static: tf2_msgs/msg/TFMessage
Service Servers:
/robot_state_publisher/describe_parameters: rcl_interfaces/srv/DescribeParameters
/robot_state_publisher/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/robot_state_publisher/get_parameters: rcl_interfaces/srv/GetParameters
/robot_state_publisher/list_parameters: rcl_interfaces/srv/ListParameters
/robot_state_publisher/set_parameters: rcl_interfaces/srv/SetParameters
/robot_state_publisher/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
查看节点通信关系图
rqt_graph
| 图形 | 含义 |
|---|---|
| 🟠 椭圆（oval） | Node（节点） |
| ⬛ 矩形（rectangle） | Topic（话题） |
| → 箭头 | 数据流方向 |
📌 规则一句话：
Node → Topic = 发布（publish） Topic → Node = 订阅（subscribe）
仿真脚本
def _launch_setup(context, *, description_share):
"""启动设置主函数 —— 由 OpaqueFunction 在 launch 阶段回调执行。
本函数负责：
1. 从 launch 参数中读取配置文件和坐标信息
2. 加载 YAML 配置并转换为 xacro 变量映射
3. 使用 xacro 处理 URDF 宏定义文件，生成最终的机器人描述
4. 裁剪掉仿真中不需要的相机子树
5. 创建并返回三个核心节点：
- robot_state_publisher：发布机器人 TF 和关节状态
- ros_gz_sim create：在 Gazebo 中生成机器人实体
- ros_gz_bridge：桥接 ROS 2 与 Gazebo 的 topic
Args:
context: Launch 上下文，用于解析 LaunchConfiguration。
description_share: description 功能包的共享目录路径。
"""
# ------------------------------------------------------------------
# 1. 路径构造：指向仿真专用的 xacro 宏文件
# ------------------------------------------------------------------
xacro_path = os.path.join(description_share, "urdf", "omni_base_sim.urdf.xacro")
# ------------------------------------------------------------------
# 2. 解析所有运行时 launch 参数（用户在命令行传入的覆盖值）
# ------------------------------------------------------------------
config_file = LaunchConfiguration("config_file").perform(context) # 车身几何配置 YAML
robot_name = LaunchConfiguration("robot_name").perform(context) # Gazebo 中的机器人名称
spawn_x = LaunchConfiguration("x").perform(context) # 初始位置 X (m)
spawn_y = LaunchConfiguration("y").perform(context) # 初始位置 Y (m)
spawn_yaw = LaunchConfiguration("yaw").perform(context) # 初始朝向 (rad)
bridge_config_file = LaunchConfiguration("bridge_config_file").perform(context) # 桥接 topic 映射配置
# ------------------------------------------------------------------
# 3. 加载 YAML 车身配置 → 生成 xacro 变量映射表
# ------------------------------------------------------------------
config = _load_yaml(config_file)
mapping = _mapping_from_config(config)
mapping["robot_name"] = robot_name # 将机器人名称注入映射，xacro 中可通过 ${robot_name} 引用
# ------------------------------------------------------------------
# 4. 处理 xacro 得到最终 URDF，并裁剪相机子树
# ------------------------------------------------------------------
robot_description = xacro.process_file(xacro_path, mappings=mapping).toxml()
camera_tf_prefix = mapping.get("camera_tf_prefix", "oak") # 相机前缀，默认为 "oak"
robot_description = _strip_camera_subtree(robot_description, camera_tf_prefix)
# ------------------------------------------------------------------
# 5. 组装要启动的节点列表
# ------------------------------------------------------------------
nodes = [
# ------------------------------------------------------------------
# 5a. robot_state_publisher
# 将 URDF 发布到 /robot_description 话题，
# 并根据关节状态发布 TF 变换树。
# ------------------------------------------------------------------
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[
{
"use_sim_time": True, # 使用 Gazebo 的仿真时间
"publish_frequency": 30.0, # TF 发布频率 (Hz)
"robot_description": robot_description, # 处理后的 URDF 内容
}
],
),
# ------------------------------------------------------------------
# 5b. ros_gz_sim create
# 在 Gazebo 仿真环境中生成机器人实体。
# 它从 /robot_description 话题读取 URDF 来实例化模型。
# ------------------------------------------------------------------
Node(
package="ros_gz_sim",
executable="create",
name="spawn_robot",
output="screen",
arguments=[
"-name", robot_name, # 实体在 Gazebo 中的名称
"-topic", "robot_description", # 从该 topic 读取 URDF
"-x", spawn_x, # X 坐标
"-y", spawn_y, # Y 坐标
"-z", "0.05", # Z 坐标（略高于地面，防止穿透）
"-Y", spawn_yaw, # 偏航角
],
),
# ------------------------------------------------------------------
# 5c. ros_gz_bridge (parameter_bridge)
# 在 ROS 2 和 Gazebo 之间双向桥接指定的 topic。
# 桥接规则由 YAML 配置文件（sim_bridge.yaml）定义。
# ------------------------------------------------------------------
Node(
package="ros_gz_bridge",
executable="parameter_bridge",
name="ros_gz_bridge",
output="screen",
parameters=[{"config_file": bridge_config_file, "use_sim_time": True}],
),
]
return nodes
# ============================================================
# launch 文件入口函数（ROS 2 launch 系统要求必须存在）
# ============================================================
def generate_launch_description():
"""生成并返回仿真机器人的完整 LaunchDescription。
整体流程：
1. 获取 description 和 ros_gz_sim 功能包的共享目录
2. 设置所有 launch 参数的默认值
3. 启动 Gazebo 仿真器（含/不含 GUI）
4. 通过 OpaqueFunction 延迟调用 _launch_setup，依次完成：
- 配置加载 → xacro 处理 → 相机子树裁剪
- 启动 robot_state_publisher、spawn 实体、ros_gz_bridge
可覆盖的 launch 参数：
- world_file : Gazebo 世界文件路径（.sdf）
- config_file : 机器人几何配置 YAML
- bridge_config_file: ROS-Gazebo 桥接配置文件
- robot_name : 机器人在 Gazebo 中的名称
- x, y, yaw : 初始位姿
- headless : 是否无头模式（不启动 GUI）
"""
# ============================================================
# 1. 获取各功能包共享目录路径（install/<pkg>/share）
# ============================================================
description_share = get_package_share_directory("description") # description 包目录
ros_gz_sim_share = get_package_share_directory("ros_gz_sim") # ros_gz_sim 包目录
# ============================================================
# 2. 设置各项 launch 参数的默认值（用户可用命令行覆盖）
# ============================================================
default_world = os.path.join(description_share, "worlds", "exhibition_hall.sdf")
default_config = os.path.join(description_share, "config", "omni_base.yaml")
default_bridge_config = os.path.join(description_share, "config", "sim_bridge.yaml")
# ---- 2a. Gazebo 世界文件 ----
world_file_arg = DeclareLaunchArgument(
"world_file",
default_value=default_world,
description="Gazebo 世界文件的绝对路径（.sdf 格式）。",
)
# ---- 2b. 机器人几何配置（与实车共用） ----
config_file_arg = DeclareLaunchArgument(
"config_file",
default_value=default_config,
description="机器人几何参数 YAML 的绝对路径（与实车 launch 共享同一份配置）。",
)
# ---- 2c. ROS ← → Gazebo 桥接话题映射 ----
bridge_config_file_arg = DeclareLaunchArgument(
"bridge_config_file",
default_value=default_bridge_config,
description="ros_gz_bridge 话题映射配置 YAML 的绝对路径。",
)
# ---- 2d. 仿真机器人名称 ----
robot_name_arg = DeclareLaunchArgument(
"robot_name",
default_value="xintiangui_omni_sim",
description="机器人在 Gazebo 场景中的实体名称。",
)
# ---- 2e. 初始位姿 ----
x_arg = DeclareLaunchArgument("x", default_value="0.0", description="生成位置的 X 坐标（米）。")
y_arg = DeclareLaunchArgument("y", default_value="0.0", description="生成位置的 Y 坐标（米）。")
yaw_arg = DeclareLaunchArgument("yaw", default_value="0.0", description="生成朝向偏航角（弧度）。")
# ---- 2f. 无头模式 ----
headless_arg = DeclareLaunchArgument(
"headless",
default_value="false",
description="设为 true 时仅启动 Gazebo server 而不打开 GUI 窗口（等效于 -s 参数）。",
)
# ============================================================
# 3. 生成 Gazebo 启动参数标志
# PythonExpression 在运行时求值：
# - headless == "true" → "-r -s "（-s 表示无 GUI）
# - 否则 → "-r " （-r 表示自动开始仿真）
# ============================================================
gz_sim_flags = PythonExpression(
["'-r -s ' if '", LaunchConfiguration("headless"), "' == 'true' else '-r '"]
)
# ============================================================
# 4. 嵌套包含 ros_gz_sim 软件包中的 gz_sim.launch.py
# 向其传递 gz_args 参数：由仿真标志 + 世界文件路径拼接而成
# ============================================================
gz_sim = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(ros_gz_sim_share, "launch", "gz_sim.launch.py")
),
launch_arguments={
"gz_args": [gz_sim_flags, LaunchConfiguration("world_file")],
}.items(),
)
# ============================================================
# 5. 组装并返回完整的 LaunchDescription
# 用 OpaqueFunction 包裹 _launch_setup 确保其在所有参数
# 解析完成后才延迟执行（此时 LaunchConfiguration 已可用）
# ============================================================
return LaunchDescription(
[
# ---- 参数声明 ----
world_file_arg,
config_file_arg,
bridge_config_file_arg,
robot_name_arg,
x_arg,
y_arg,
yaw_arg,
headless_arg,
# ---- 动作 ----
gz_sim, # 启动 Gazebo 仿真器
OpaqueFunction(
function=lambda context: _launch_setup(
context, description_share=description_share
)
), # 延迟执行：加载配置并启动机器人相关节点
]
)
slam_toolbox
slam_toolbox = 用 2D 激光雷达 + 里程计，实时生成地图（map）并做定位
slam_toolbox 输入输出
输入
| 数据 | 来源 |
|---|---|
| /scan | 激光雷达 |
| /tf | 机器人位姿 |
| /odom | 里程计（可选但推荐） |
输出
| 输出 | 作用 |
|---|---|
| /map | 栅格地图 |
| map → odom | 位姿修正 |
| /pose | 当前机器人位置 |
slam_toolbox_mapping_sim.yaml
# slam_toolbox 建图模式参数（仿真专用）
# 基于 /opt/ros/humble/share/slam_toolbox/config/mapper_params_online_async.yaml 复制，
# 仅修改 base_frame（本工作区机器人 TF 树以 base_link 为基座，无 base_footprint）。
# 用于 mapping_sim.sh：Gazebo + slam_toolbox(online_async) 建图。
slam_toolbox:
ros__parameters:
# ---- 后端图优化求解器（Ceres Solver） ----
solver_plugin: solver_plugins::CeresSolver # 求解器类型
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY # 稀疏 Cholesky 分解
ceres_preconditioner: SCHUR_JACOBI # Schur 补 + Jacobi 预处理
ceres_trust_strategy: LEVENBERG_MARQUARDT # LM 信赖域策略
ceres_dogleg_type: TRADITIONAL_DOGLEG # Dogleg 方法（仅 DOGLEG 策略时生效）
ceres_loss_function: None # 鲁棒核函数（None=无，可选 HuberLoss）
# ---- 坐标系与话题 ----
odom_frame: odom # 里程计坐标系
map_frame: map # 全局地图坐标系
base_frame: base_link # 机器人基座坐标系（本车为 base_link）
scan_topic: /scan # 激光雷达话题名
use_map_saver: true # 是否允许运行时保存地图
mode: mapping # 工作模式：mapping / localization
# ---- 通用参数 ----
debug_logging: false # 启用调试日志
throttle_scans: 1 # 扫描降采样（1=全处理）
transform_publish_period: 0.02 # map->odom TF 发布间隔（秒）
map_update_interval: 5.0 # 地图栅格更新间隔（秒）
resolution: 0.05 # 地图分辨率（米/像素）
min_laser_range: 0.15 # 激光有效最小距离（米）
max_laser_range: 20.0 # 激光有效最大距离（米）
minimum_time_interval: 0.5 # 帧间最小时间间隔（秒）
transform_timeout: 0.2 # TF 查询超时（秒）
tf_buffer_duration: 30. # TF 缓冲区时长（秒）
stack_size_to_use: 40000000 # 线程栈大小（字节，防深递归崩溃）
enable_interactive_mode: true # 允许 RViz 交互面板控制
# ---- 前端扫描匹配 ----
use_scan_matching: true # 启用激光扫描匹配
use_scan_barycenter: true # 使用扫描质心辅助对齐
minimum_travel_distance: 0.3 # 新增节点最小平移距离（米）
minimum_travel_heading: 0.3 # 新增节点最小旋转角度（弧度）
scan_buffer_size: 10 # 子图保留的扫描帧数
scan_buffer_maximum_scan_distance: 10.0 # 缓冲区保留的最大扫描距离（米）
link_match_minimum_response_fine: 0.1 # 精细链路匹配最小响应阈值
link_scan_maximum_distance: 1.5 # 链路连接最大距离（米）
loop_search_maximum_distance: 3.0 # 回环搜索半径（米）
do_loop_closing: true # 启用回环检测
loop_match_minimum_chain_size: 10 # 回环候选最小连续节点数
loop_match_maximum_variance_coarse: 3.0 # 粗匹配最大方差
loop_match_minimum_response_coarse: 0.35 # 粗匹配最小响应阈值
loop_match_minimum_response_fine: 0.45 # 精细匹配最小响应阈值
# ---- 前端相关性搜索空间（scan-to-map） ----
correlation_search_space_dimension: 0.5 # 搜索窗口半边长（米）
correlation_search_space_resolution: 0.01 # 搜索步长（米）
correlation_search_space_smear_deviation: 0.1 # 高斯模糊标准差，平滑代价地图
# ---- 后端回环搜索空间 ----
loop_search_space_dimension: 8.0 # 回环搜索窗口半边长（米）
loop_search_space_resolution: 0.05 # 回环搜索步长（米）
loop_search_space_smear_deviation: 0.03 # 回环搜索模糊标准差
# ---- 位姿方差惩罚 ----
distance_variance_penalty: 0.5 # 平移变化惩罚权重
angle_variance_penalty: 1.0 # 旋转变化惩罚权重
# ---- 角度搜索参数 ----
fine_search_angle_offset: 0.00349 # 精细搜索角度偏移（弧度，≈0.2°）
coarse_search_angle_offset: 0.349 # 粗搜索角度偏移（弧度，≈20°）
coarse_angle_resolution: 0.0349 # 粗搜索角度步长（弧度，≈2°）
minimum_angle_penalty: 0.9 # 角度匹配最小惩罚因子
minimum_distance_penalty: 0.5 # 距离匹配最小惩罚因子
use_response_expansion: true # 动态扩展搜索范围
min_pass_through: 2 # 栅格通过计数阈值
occupancy_threshold: 0.1 # 栅格占据概率阈值
ROS log
lxg@lxg:~/.ros$ tree
.
├── log
│ ├── 2026-07-06-11-20-26-996329-lxg-21071
│ │ └── launch.log
│ ├── async_slam_toolbox_node_21422_1783308050714.log ← SLAM核心节点
│ ├── create_21076_1783308027103.log
│ ├── parameter_bridge_21079_1783308027109.log
│ ├── robot_state_publisher_21074_1783308027094.log ← TF生成
│ └── rviz2_21474_1783308093083.log
RVIZ
source /opt/ros/humble/setup.bash
source /home/lxg/code/xt/gitlab/ros2_learn_ws/install/setup.bash
export ROS_LOCALHOST_ONLY=1
export ROS_DOMAIN_ID=0
cd /home/lxg/code/xt/gitlab/ros2_learn_ws
rviz2 -d '/home/lxg/code/xt/gitlab/ros2_learn_ws/config/mapping_sim.rviz' --ros-args -p use_sim_time:=true
建图完成后保存的文件
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ls -al maps/sim/exhibition_hall.*
-rw-rw-r-- 1 lxg lxg 2144051 Jul 6 13:56 maps/sim/exhibition_hall.data
-rw-rw-r-- 1 lxg lxg 112533 Jul 6 13:57 maps/sim/exhibition_hall.pgm # 栅格地图（给 Nav2 用）
-rw-rw-r-- 1 lxg lxg 13551227 Jul 6 13:56 maps/sim/exhibition_hall.posegraph
-rw-rw-r-- 1 lxg lxg 133 Jul 6 13:57 maps/sim/exhibition_hall.yaml #
栅格地图（给 Nav2 用）
| 文件 | 作用 |
|---|---|
| .pgm | 黑白栅格地图（占据网格） |
| .yaml | 地图描述（分辨率/原点） |
原始 SLAM数据（核心）
exhibition_hall.data
👉 含义：
- SLAM扫描数据缓存
- 用于重新优化地图
- 类似“原始感知数据”
位姿图（非常关键）
exhibition_hall.posegraph
👉 这是：
🧠 SLAM 的“脑子”
包含：
- 节点（机器人位置）
- 回环约束
- 位姿优化关系
导航
Gazebo 仿真（机器人 + 展厅世界 + 话题桥接）
source /opt/ros/humble/setup.bash
source /home/lxg/code/xt/gitlab/ros2_learn_ws/install/setup.bash
export ROS_LOCALHOST_ONLY=1
export ROS_DOMAIN_ID=0
cd /home/lxg/code/xt/gitlab/ros2_learn_ws
ros2 launch description sim_robot.launch.py \
world_file:='/home/lxg/code/xt/gitlab/ros2_learn_ws/src/description/worlds/exhibition_hall.sdf' \
config_file:='/home/lxg/code/xt/gitlab/ros2_learn_ws/src/description/config/omni_base.yaml' \
bridge_config_file:='/home/lxg/code/xt/gitlab/ros2_learn_ws/src/description/config/sim_bridge.yaml' \
headless:=false \
x:=0.0 \
y:=0.0 \
yaw:=0.0
作用：加载展厅世界模型、生成仿真机器人、启用 ROS 话题桥接，发布 /scan 激光扫描数据。
SLAM Toolbox（定位模式)
source /opt/ros/humble/setup.bash
source /home/lxg/code/xt/gitlab/ros2_learn_ws/install/setup.bash
export ROS_LOCALHOST_ONLY=1
export ROS_DOMAIN_ID=0
cd /home/lxg/code/xt/gitlab/ros2_learn_ws
ros2 run slam_toolbox localization_slam_toolbox_node \
--ros-args --params-file '/home/lxg/code/xt/gitlab/ros2_learn_ws/config/slam_toolbox_localization_sim.yaml' \
-p use_sim_time:=true \
-p map_file_name:='/home/lxg/code/xt/gitlab/ros2_learn_ws/maps/sim/exhibition_hall' \
-p map_start_pose:='[0.0, 0.0, 0.0]'
前置：终端 1 的 Gazebo 已完全启动，/scan 话题有数据。
作用：加载预先保存的地图位姿图，对机器人进行定位（不再建图），发布 map → odom → base_link 的转换树。
slam_toolbox_localization_sim.yaml
# =============================================================================
# slam_toolbox 定位模式参数配置（仿真专用）
# =============================================================================
# 基于 ROS 2 Humble 官方默认配置修改：
# /opt/ros/humble/share/slam_toolbox/config/mapper_params_localization.yaml
#
# 修改内容：
# 仅将 base_frame 从默认的 base_footprint 改为 base_link，
# 因为本工作区机器人的 TF 树以 base_link 为基座，没有 base_footprint 坐标系。
#
# 用于 nav2_sim.sh 启动流程：
# 加载 mapping_sim.sh 阶段保存的地图（serialize_map），只做重定位（localization），
# 不再建图更新。
# =============================================================================
slam_toolbox:
ros__parameters:
# ---- 后端图优化求解器（Ceres Solver） ----
solver_plugin: solver_plugins::CeresSolver # 求解器类型
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY # 稀疏 Cholesky 分解
ceres_preconditioner: SCHUR_JACOBI # Schur 补 + Jacobi 预处理
ceres_trust_strategy: LEVENBERG_MARQUARDT # LM 信赖域策略
ceres_dogleg_type: TRADITIONAL_DOGLEG # Dogleg 方法（仅 DOGLEG 策略时生效）
ceres_loss_function: None # 鲁棒核函数（None=无，可选 HuberLoss）
# ---- 坐标系与话题 ----
odom_frame: odom # 里程计坐标系
map_frame: map # 全局地图坐标系
base_frame: base_link # 机器人基座坐标系（本车为 base_link）
scan_topic: /scan # 激光雷达话题名
mode: localization # 工作模式：localization（仅定位，不更新地图）
# ---- 通用参数 ----
debug_logging: false # 启用调试日志
throttle_scans: 1 # 扫描降采样（1=全处理）
transform_publish_period: 0.02 # map->odom TF 发布间隔（秒）
map_update_interval: 5.0 # 地图栅格更新间隔（秒）
resolution: 0.05 # 地图分辨率（米/像素）
min_laser_range: 0.15 # 激光有效最小距离（米）
max_laser_range: 20.0 # 激光有效最大距离（米）
minimum_time_interval: 0.5 # 帧间最小时间间隔（秒）
transform_timeout: 0.2 # TF 查询超时（秒）
tf_buffer_duration: 30. # TF 缓冲区时长（秒）
stack_size_to_use: 40000000 # 线程栈大小（字节，防深递归崩溃）
# ---- 前端扫描匹配 ----
use_scan_matching: true # 启用激光扫描匹配
use_scan_barycenter: true # 使用扫描质心辅助对齐
minimum_travel_distance: 0.3 # 新增节点最小平移距离（米）
minimum_travel_heading: 0.3 # 新增节点最小旋转角度（弧度）
scan_buffer_size: 3 # 子图保留扫描帧数（定位模式较小，3 帧即可）
scan_buffer_maximum_scan_distance: 10.0 # 缓冲区保留的最大扫描距离（米）
link_match_minimum_response_fine: 0.1 # 精细链路匹配最小响应阈值
link_scan_maximum_distance: 1.5 # 链路连接最大距离（米）
do_loop_closing: true # 启用回环检测
loop_match_minimum_chain_size: 3 # 回环候选最小连续节点数（定位模式较小）
loop_match_maximum_variance_coarse: 3.0 # 粗匹配最大方差
loop_match_minimum_response_coarse: 0.35 # 粗匹配最小响应阈值
loop_match_minimum_response_fine: 0.45 # 精细匹配最小响应阈值
# ---- 前端相关性搜索空间（scan-to-map） ----
correlation_search_space_dimension: 0.5 # 搜索窗口半边长（米）
correlation_search_space_resolution: 0.01 # 搜索步长（米）
correlation_search_space_smear_deviation: 0.1 # 高斯模糊标准差，平滑代价地图
# ---- 后端回环搜索空间 ----
loop_search_space_dimension: 8.0 # 回环搜索窗口半边长（米）
loop_search_space_resolution: 0.05 # 回环搜索步长（米）
loop_search_space_smear_deviation: 0.03 # 回环搜索模糊标准差
loop_search_maximum_distance: 3.0 # 回环搜索半径（米）
# ---- 位姿方差惩罚 ----
distance_variance_penalty: 0.5 # 平移变化惩罚权重
angle_variance_penalty: 1.0 # 旋转变化惩罚权重
# ---- 角度搜索参数 ----
fine_search_angle_offset: 0.00349 # 精细搜索角度偏移（弧度，≈0.2°）
coarse_search_angle_offset: 0.349 # 粗搜索角度偏移（弧度，≈20°）
coarse_angle_resolution: 0.0349 # 粗搜索角度步长（弧度，≈2°）
minimum_angle_penalty: 0.9 # 角度匹配最小惩罚因子
minimum_distance_penalty: 0.5 # 距离匹配最小惩罚因子
use_response_expansion: true # 动态扩展搜索范围
min_pass_through: 2 # 栅格通过计数阈值
occupancy_threshold: 0.1 # 栅格占据概率阈值
Nav导航
source /opt/ros/humble/setup.bash
source /home/lxg/code/xt/gitlab/ros2_learn_ws/install/setup.bash
export ROS_LOCALHOST_ONLY=1
export ROS_DOMAIN_ID=0
cd /home/lxg/code/xt/gitlab/ros2_learn_ws
ros2 launch nav2_bringup navigation_launch.py \
use_sim_time:=true \
params_file:='/home/lxg/code/xt/gitlab/ros2_learn_ws/config/nav2_sim.yaml' \
autostart:=true \
use_composition:=False \
use_respawn:=False \
log_level:=info
前置：终端 2 的 SLAM Toolbox 已启动并定位就绪。
作用：启动 Nav2 导航栈，使用官方 nav2_mppi_controller::MPPIController 进行路径规划和控制。
RVIZ2
source /opt/ros/humble/setup.bash
source /home/lxg/code/xt/gitlab/ros2_learn_ws/install/setup.bash
export ROS_LOCALHOST_ONLY=1
export ROS_DOMAIN_ID=0
cd /home/lxg/code/xt/gitlab/ros2_learn_ws
rviz2 -d '/opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz' \
--ros-args -p use_sim_time:=true
前置：终端 1-3 已启动完成。
作用：提供可视化界面，显示地图、机器人状态、成本地图、规划路径等；交互下发导航目标。
rqt_graph
ROS2 Nav2 + Gazebo 等价文字通信图
┌────────────────────────────────────────────────────────────┐
│ 🌍 Gazebo 仿真层 │
│ │
│ gz sim server / gz sim gui │
│ (物理世界 + 机器人运动) │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🔌 ros_gz_bridge（核心枢纽） │
│ │
│ 转换 Gazebo → ROS2 Topics │
│ │
│ 输出： │
│ /scan │
│ /odom │
│ /map │
│ /tf │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🧭 SLAM / 地图融合层 │
│ │
│ slam_toolbox (localization mode) │
│ │
│ 输入： /scan / odom / tf │
│ 输出： /map + map → odom 修正 TF │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🗺️ Costmap 感知层 │
│ │
│ global_costmap │
│ │
│ 输入： │
│ /map │
│ /scan │
│ /tf │
│ │
│ 输出： │
│ costmap grid │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🧠 Nav2 规划层 │
│ │
│ planner_server │
│ │
│ 输入： costmap + tf │
│ 输出： global path │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🎯 Nav2 控制层 │
│ │
│ controller_server │
│ │ │
│ ▼ │
│ velocity_smoother │
│ │ │
│ ▼ │
│ /cmd_vel │
└───────────────┬────────────────────────────────────────────┘
│
▼
┌────────────────────────────────────────────────────────────┐
│ 🚗 Gazebo 执行层 │
│ │
│ robot motion (差速/底盘模型) │
│ │
│ 执行 /cmd_vel → 更新 /odom / tf │
└────────────────────────────────────────────────────────────┘
TF（系统“骨架网络”）
map
│
▼
odom
│
▼
base_link
│
┌───────┼────────┐
▼ ▼ ▼
camera laser wheels
整系统真实数据流
查看ROS2进程
仿真与物理层（Gazebo / gz sim）
| 进程 | 完整路径 | 作用 |
|---|---|---|
| gz sim server | /usr/bin/gz sim server（内部启动） |
物理引擎（动力学计算） |
| gz sim gui | /usr/bin/gz sim gui |
Gazebo可视化界面 |
| gz sim | /usr/bin/gz |
仿真启动入口 |
| ros_gz_bridge | /opt/ros/humble/lib/ros_gz_bridge/parameter_bridge |
ROS ↔ Gazebo通信桥 |
机器人状态与TF层
| 进程 | 完整路径 | 作用 |
|---|---|---|
| robot_state_publisher | /opt/ros/humble/lib/robot_state_publisher/robot_state_publisher |
发布 TF 树 |
| joint_state_publisher | ~ros2_learn_ws/install/description/share/description/scripts/default_joint_state_publisher.py |
机器人关节状态 |
SLAM / 定位层
| 进程 | 完整路径 | 作用 |
|---|---|---|
| slam_toolbox | /opt/ros/humble/lib/slam_toolbox/localization_slam_toolbox_node |
SLAM定位 + 建图 |
Nav2 导航系统（核心）
| 进程 | 完整路径 | 作用 |
|---|---|---|
| planner_server | /opt/ros/humble/lib/nav2_planner/planner_server |
全局路径规划 |
| controller_server | /opt/ros/humble/lib/nav2_controller/controller_server |
轨迹控制 |
| bt_navigator | /opt/ros/humble/lib/nav2_bt_navigator/bt_navigator |
行为树执行 |
| behavior_server | /opt/ros/humble/lib/nav2_behaviors/behavior_server |
recovery /行为插件 |
| waypoint_follower | /opt/ros/humble/lib/nav2_waypoint_follower/waypoint_follower |
路径点跟随 |
| velocity_smoother | /opt/ros/humble/lib/nav2_velocity_smoother/velocity_smoother |
速度平滑 |
| lifecycle_manager | /opt/ros/humble/lib/nav2_lifecycle_manager/lifecycle_manager |
生命周期管理 |
可视化层
| 进程 | 完整路径 | 作用 |
|---|---|---|
| rviz2 | /usr/bin/rviz2 |
ROS可视化工具 |
控制输入层
| 进程 | 完整路径 | 作用 |
|---|---|---|
| teleop_twist_keyboard | /opt/ros/humble/lib/teleop_twist_keyboard/teleop_twist_keyboard |
键盘控制机器人 |
数据记录和回放
录制全部话题
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ros2 bag record -a
[INFO] [1783325865.596645224] [rosbag2_recorder]: Press SPACE for pausing/resuming
[INFO] [1783325865.598562402] [rosbag2_storage]: Opened database 'rosbag2_2026_07_06-16_17_45/rosbag2_2026_07_06-16_17_45_0.db3' for READ_WRITE.
[INFO] [1783325865.600022911] [rosbag2_recorder]: Listening for topics...
[INFO] [1783325865.600037799] [rosbag2_recorder]: Event publisher thread: Starting
[INFO] [1783325865.602245353] [rosbag2_recorder]: Subscribed to topic '/velocity_smoother/transition_event'
[INFO] [1783325865.604429914] [rosbag2_recorder]: Subscribed to topic '/rosout'
[INFO] [1783325865.606194314] [rosbag2_recorder]: Subscribed to topic '/joint_states'
[INFO] [1783325865.606934888] [rosbag2_recorder]: Subscribed to topic '/events/write_split'
[INFO] [1783325865.608227771] [rosbag2_recorder]: Subscribed to topic '/parameter_events'
[INFO] [1783325865.609567953] [rosbag2_recorder]: Subscribed to topic '/diagnostics'
[INFO] [1783325865.610175647] [rosbag2_recorder]: Subscribed to topic '/controller_server/transition_event'
[INFO] [1783325865.610253112] [rosbag2_recorder]: Recording...
[WARN] [1783325865.611329338] [ROSBAG2_TRANSPORT]: Hidden topics are not recorded. Enable them with --include-hidden-topics
[INFO] [1783325865.612593667] [rosbag2_recorder]: Subscribed to topic '/scan'
[INFO] [1783325865.614030742] [rosbag2_recorder]: Subscribed to topic '/odom'
[INFO] [1783325865.614831639] [rosbag2_recorder]: Subscribed to topic '/plan_smoothed'
[INFO] [1783325865.616327143] [rosbag2_recorder]: Subscribed to topic '/cmd_vel'
[INFO] [1783325865.618611712] [rosbag2_recorder]: Subscribed to topic '/bond'
[INFO] [1783325865.619436434] [rosbag2_recorder]: Subscribed to topic '/smoother_server/transition_event'
[INFO] [1783325865.620262449] [rosbag2_recorder]: Subscribed to topic '/clock'
[INFO] [1783325865.621928735] [rosbag2_recorder]: Subscribed to topic '/tf'
[INFO] [1783325865.622520629] [rosbag2_recorder]: Subscribed to topic '/waypoint_follower/transition_event'
[INFO] [1783325865.623556879] [rosbag2_recorder]: Subscribed to topic '/robot_description'
[INFO] [1783325865.624195831] [rosbag2_recorder]: Subscribed to topic '/tf_static'
[INFO] [1783325865.727418563] [rosbag2_recorder]: Subscribed to topic '/plan'
[INFO] [1783325865.728008664] [rosbag2_recorder]: Subscribed to topic '/map'
[INFO] [1783325865.728468229] [rosbag2_recorder]: Subscribed to topic '/slam_toolbox/scan_visualization'
[INFO] [1783325865.729058991] [rosbag2_recorder]: Subscribed to topic '/local_costmap/published_footprint'
[INFO] [1783325865.729522573] [rosbag2_recorder]: Subscribed to topic '/local_costmap/local_costmap/transition_event'
[INFO] [1783325865.730396688] [rosbag2_recorder]: Subscribed to topic '/local_costmap/costmap_updates'
[INFO] [1783325865.731539479] [rosbag2_recorder]: Subscribed to topic '/local_costmap/costmap_raw'
[INFO] [1783325865.732008902] [rosbag2_recorder]: Subscribed to topic '/local_costmap/costmap'
[INFO] [1783325865.732487232] [rosbag2_recorder]: Subscribed to topic '/global_costmap/global_costmap/transition_event'
[INFO] [1783325865.732935666] [rosbag2_recorder]: Subscribed to topic '/planner_server/transition_event'
[INFO] [1783325865.733564710] [rosbag2_recorder]: Subscribed to topic '/behavior_tree_log'
[INFO] [1783325865.734033622] [rosbag2_recorder]: Subscribed to topic '/transformed_global_plan'
[INFO] [1783325865.734491594] [rosbag2_recorder]: Subscribed to topic '/global_costmap/published_footprint'
[INFO] [1783325865.734945769] [rosbag2_recorder]: Subscribed to topic '/global_costmap/costmap_updates'
[INFO] [1783325865.735404572] [rosbag2_recorder]: Subscribed to topic '/bt_navigator/transition_event'
[INFO] [1783325865.735879476] [rosbag2_recorder]: Subscribed to topic '/unsmoothed_plan'
[INFO] [1783325865.737397152] [rosbag2_recorder]: Subscribed to topic '/slam_toolbox/update'
[INFO] [1783325865.737970080] [rosbag2_recorder]: Subscribed to topic '/slam_toolbox/graph_visualization'
[INFO] [1783325865.738548188] [rosbag2_recorder]: Subscribed to topic '/pose'
[INFO] [1783325865.738991312] [rosbag2_recorder]: Subscribed to topic '/behavior_server/transition_event'
[INFO] [1783325865.739483288] [rosbag2_recorder]: Subscribed to topic '/global_costmap/costmap'
[INFO] [1783325865.739945117] [rosbag2_recorder]: Subscribed to topic '/map_metadata'
[INFO] [1783325865.740426813] [rosbag2_recorder]: Subscribed to topic '/global_costmap/costmap_raw'
[INFO] [1783325865.740909712] [rosbag2_recorder]: Subscribed to topic '/trajectories'
[INFO] [1783325865.741390106] [rosbag2_recorder]: Subscribed to topic '/cmd_vel_nav'
[INFO] [1783325865.953328959] [rosbag2_recorder]: Subscribed to topic '/initialpose'
[INFO] [1783325865.954540238] [rosbag2_recorder]: Subscribed to topic '/clicked_point'
[INFO] [1783325865.955586978] [rosbag2_recorder]: Subscribed to topic '/waypoints'
录制的数据路径
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws$ ls rosbag2_2026_07_06-16_17_45/
metadata.yaml rosbag2_2026_07_06-16_17_45_0.db3
sqlitebrowser打开数据库
查看数据库信息
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws/rosbag2_2026_07_06-16_17_45$ ros2 bag info rosbag2_2026_07_06-16_17_45_0.db3
closing.
closing.
[INFO] [1783391713.196456309] [rosbag2_storage]: Opened database 'rosbag2_2026_07_06-16_17_45_0.db3' for READ_ONLY.
Files: rosbag2_2026_07_06-16_17_45_0.db3
Bag size: 819.9 MiB
Storage id: sqlite3
Duration: 135.266113583s
Start: Jul 6 2026 16:17:45.621216194 (1783325865.621216194)
End: Jul 6 2026 16:20:00.887329777 (1783326000.887329777)
Messages: 184433
Topic information: Topic: /velocity_smoother/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 72 | Serialization Format: cdr
Topic: /joint_states | Type: sensor_msgs/msg/JointState | Count: 4058 | Serialization Format: cdr
Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
Topic: /diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray | Count: 134 | Serialization Format: cdr
Topic: /controller_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /scan | Type: sensor_msgs/msg/LaserScan | Count: 1343 | Serialization Format: cdr
Topic: /odom | Type: nav_msgs/msg/Odometry | Count: 3950 | Serialization Format: cdr
Topic: /plan_smoothed | Type: nav_msgs/msg/Path | Count: 0 | Serialization Format: cdr
Topic: /cmd_vel | Type: geometry_msgs/msg/Twist | Count: 519 | Serialization Format: cdr
Topic: /bond | Type: bond/msg/Status | Count: 18799 | Serialization Format: cdr
Topic: /smoother_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 134276 | Serialization Format: cdr
Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 14692 | Serialization Format: cdr
Topic: /waypoint_follower/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /robot_description | Type: std_msgs/msg/String | Count: 1 | Serialization Format: cdr
Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 1 | Serialization Format: cdr
Topic: /plan | Type: nav_msgs/msg/Path | Count: 25 | Serialization Format: cdr
Topic: /map | Type: nav_msgs/msg/OccupancyGrid | Count: 28 | Serialization Format: cdr
Topic: /slam_toolbox/scan_visualization | Type: sensor_msgs/msg/LaserScan | Count: 0 | Serialization Format: cdr
Topic: /local_costmap/published_footprint | Type: geometry_msgs/msg/PolygonStamped | Count: 2015 | Serialization Format: cdr
Topic: /local_costmap/local_costmap/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /local_costmap/costmap_updates | Type: map_msgs/msg/OccupancyGridUpdate | Count: 0 | Serialization Format: cdr
Topic: /local_costmap/costmap_raw | Type: nav2_msgs/msg/Costmap | Count: 1008 | Serialization Format: cdr
Topic: /local_costmap/costmap | Type: nav_msgs/msg/OccupancyGrid | Count: 1008 | Serialization Format: cdr
Topic: /global_costmap/global_costmap/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /planner_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /behavior_tree_log | Type: nav2_msgs/msg/BehaviorTreeLog | Count: 76 | Serialization Format: cdr
Topic: /transformed_global_plan | Type: nav_msgs/msg/Path | Count: 500 | Serialization Format: cdr
Topic: /global_costmap/published_footprint | Type: geometry_msgs/msg/PolygonStamped | Count: 404 | Serialization Format: cdr
Topic: /global_costmap/costmap_updates | Type: map_msgs/msg/OccupancyGridUpdate | Count: 0 | Serialization Format: cdr
Topic: /bt_navigator/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /unsmoothed_plan | Type: nav_msgs/msg/Path | Count: 25 | Serialization Format: cdr
Topic: /slam_toolbox/update | Type: visualization_msgs/msg/InteractiveMarkerUpdate | Count: 0 | Serialization Format: cdr
Topic: /slam_toolbox/graph_visualization | Type: visualization_msgs/msg/MarkerArray | Count: 27 | Serialization Format: cdr
Topic: /pose | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 37 | Serialization Format: cdr
Topic: /behavior_server/transition_event | Type: lifecycle_msgs/msg/TransitionEvent | Count: 0 | Serialization Format: cdr
Topic: /global_costmap/costmap | Type: nav_msgs/msg/OccupancyGrid | Count: 202 | Serialization Format: cdr
Topic: /map_metadata | Type: nav_msgs/msg/MapMetaData | Count: 28 | Serialization Format: cdr
Topic: /global_costmap/costmap_raw | Type: nav2_msgs/msg/Costmap | Count: 202 | Serialization Format: cdr
Topic: /trajectories | Type: visualization_msgs/msg/MarkerArray | Count: 500 | Serialization Format: cdr
Topic: /cmd_vel_nav | Type: geometry_msgs/msg/Twist | Count: 501 | Serialization Format: cdr
Topic: /initialpose | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 0 | Serialization Format: cdr
Topic: /clicked_point | Type: geometry_msgs/msg/PointStamped | Count: 0 | Serialization Format: cdr
Topic: /waypoints | Type: visualization_msgs/msg/MarkerArray | Count: 2 | Serialization Format: cdr
播放某个topic消息
lxg@lxg:~/code/xt/gitlab/ros2_learn_ws/rosbag2_2026_07_06-16_17_45$ ros2 bag play . --topics /scan
[INFO] [1783392018.656932450] [rosbag2_storage]: Opened database './rosbag2_2026_07_06-16_17_45_0.db3' for READ_ONLY.
[INFO] [1783392018.656984897] [rosbag2_player]: Set rate to 1
[INFO] [1783392018.659507642] [rosbag2_player]: Adding keyboard callbacks.
[INFO] [1783392018.659522850] [rosbag2_player]: Press SPACE for Pause/Resume
[INFO] [1783392018.659530124] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[INFO] [1783392018.659539260] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[INFO] [1783392018.659544620] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[INFO] [1783392018.659778752] [rosbag2_storage]: Opened database './rosbag2_2026_07_06-16_17_45_0.db3' for READ_ONLY.
lxg@lxg:~$ ros2 topic echo /scan --once
header:
stamp:
sec: 8160
nanosec: 900000000
frame_id: lidar_link
angle_min: -3.1415927410125732
angle_max: 3.1415927410125732
angle_increment: 0.017501909285783768
time_increment: 0.0
scan_time: 0.0
range_min: 0.10000000149011612
range_max: 12.0
ranges:
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- .inf
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intensities:
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---
0
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