[{"data":1,"prerenderedAt":587},["ShallowReactive",2],{"wiki-page-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":3,"wiki-doc-items-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":219,"language-switcher-data-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":571,"wiki-i18n-paths-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":586},{"id":4,"title":5,"body":6,"canonicalPath":200,"chapter":201,"chapterSort":202,"date":203,"description":12,"docI18nKey":204,"docKey":205,"docRoot":206,"docTitle":207,"extension":208,"i18nKey":209,"isBlogPost":210,"isWikiDoc":211,"isWikiIndex":210,"layout":212,"legacyPath":213,"locale":214,"localeSlug":215,"meta":216,"navigation":211,"path":200,"seo":217,"sourcePath":213,"sourceStem":209,"stem":209,"wikiDepth":87,"__hash__":218},"content/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-轮式里程计标定.md","轮式里程计标定",{"type":7,"value":8,"toc":197},"minimark",[9,13,29,32,38,41,46,49,54,57,62,65,70,73,111,114,117,123,135,140,143,146,150,153,157,160,164,167,170,174,185,190,193],[10,11,12],"p",{},"轮式里程计标定是校准机器人轮子的旋转和移动，以提供机器人运动中的准确位置和姿态信息的方法。通过标定，可以修正因轮子尺寸和轮距等因素引起的误差，获得更准确的运动轨迹。本节将以MyCar导航机器人为例演示标定过程，其标定步骤如下：",[14,15,16,20,23,26],"ol",{},[17,18,19],"li",{},"准备测量场地；",[17,21,22],{},"线性位移标定；",[17,24,25],{},"转角位移标定；",[17,27,28],{},"验证和调整。",[10,30,31],{},"另外，该过程还需要使用尺子作为测量工具。",[10,33,34],{},[35,36,37],"strong",{},"1.准备测量场地",[10,39,40],{},"选择一个开放而平坦的区域，确保没有障碍物和其他干扰因素。",[10,42,43],{},[35,44,45],{},"2.线性位移标定",[10,47,48],{},"线性位移标定是用来标定机器人在直线移动时行进的距离。该标定与车轮直径参数密切相关，当车轮直径测量不准确或轮胎磨损时，会导致轮式里程计的线性位移出现误差。以下是线性位移标定的主要步骤：",[10,50,51],{},[35,52,53],{},"（1）实际数据采集",[10,55,56],{},"启动机器人底盘和键盘控制节点，使用键盘控制机器人向前直线运动一段距离，并测量线性位移数据。",[10,58,59],{},[35,60,61],{},"（2）里程计消息采集",[10,63,64],{},"机器人停止后，输出里程计消息，并获取里程计消息中的机器人的位移数据。",[10,66,67],{},[35,68,69],{},"（3）参数计算以及修改",[10,71,72],{},"收集实际位移数据（w1）和里程计消息中的位移数据（w2），并结合驱动包配置文件中的原轮胎直径值（d1），即可计算修正后的轮胎直径值（d）。计算公式如下：",[74,75,80],"pre",{"className":76,"code":77,"language":78,"meta":79,"style":79},"language-cpp shiki shiki-themes github-light github-dark","d = w1 / w2 * d1;\n","cpp","",[81,82,83],"code",{"__ignoreMap":79},[84,85,88,92,96,99,102,105,108],"span",{"class":86,"line":87},"line",1,[84,89,91],{"class":90},"sVt8B","d ",[84,93,95],{"class":94},"szBVR","=",[84,97,98],{"class":90}," w1 ",[84,100,101],{"class":94},"/",[84,103,104],{"class":90}," w2 ",[84,106,107],{"class":94},"*",[84,109,110],{"class":90}," d1;\n",[10,112,113],{},"将计算出的结果写入 MyCar 机器人的配置文件对应的参数，并重新构建。",[10,115,116],{},"为了获得最佳结果，可以多次执行上述流程。每次执行后，测量并记录新的实际位移数据（w1）和里程计消息中的位移数据（w2），然后根据新的数据再次计算修正后的轮胎直径值（d）。不断迭代这个过程，可以逐步优化轮胎直径的估计值，减小里程计的线性位移误差。",[10,118,119],{},[120,121,122],"em",{},"小提示：",[124,125,126,129,132],"blockquote",{},[10,127,128],{},"如果使用的是以Arduino为主控的MyCar两轮差速机器人，那么需要修改ros2_arduino_bridge功能包下的params/arduino.yaml文件，该文件中有一个名为wheel_diameter参数即为车轮直径；",[10,130,131],{},"如果使用的是以Stm32为主控的MyCar两轮差速机器人，那么需要修改ros2_stm32_bridge功能包下的params/stm32_2w.yaml文件，该文件中有一个名为wheel_diameter参数即为车轮直径；",[10,133,134],{},"如果使用的是以Stm32为主控的MyCar四轮差速机器人，那么需要修改ros2_stm32_bridge功能包下的params/stm32_4w.yaml文件，该文件中有一个名为wheel_diameter参数即为车轮直径。",[10,136,137],{},[35,138,139],{},"3.转角位移标定",[10,141,142],{},"转角位移标定是用来标定机器人在转弯时的角度变化。该标定与底盘的旋转半径参数密切相关，当旋转半径设置不当时，会导致转角位移的测量误差。另外需要注意的是，如果是两轮差速机器人，那么旋转半径和轮间距基本一致。这是因为两轮差速机器人在旋转时没有造成车体的侧滑运动，所以可以使用轮间距来计算旋转角度，并且旋转半径可以近似等于轮间距。然而，对于四轮差速机器人，在旋转时会产生侧滑，轮间距无法直接用于计算旋转角度。四轮差速机器人的旋转半径需要通过实验获取，因为它的旋转半径受到侧滑运动的影响。此外，由于机器人的左右侧轮胎差异或车辆重心偏移等原因，左旋转和右旋转时计算旋转角度所使用的旋转半径可能不同，因此需要进行分别实验来获取左右旋转时的旋转半径。",[10,144,145],{},"以下是转角位移标定的主要步骤：",[10,147,148],{},[35,149,53],{},[10,151,152],{},"启动机器人底盘和键盘控制节点，使用键盘控制机器人原地旋转，并测量转角位移数据，比如可以原地旋转一周。",[10,154,155],{},[35,156,61],{},[10,158,159],{},"机器人停止后，打开rviz2，并添加tf插件，以显示机器人基坐标系（一般是base_link或base_footprint）与里程计坐标系（一般是odom）相对关系。",[10,161,162],{},[35,163,69],{},[10,165,166],{},"在机器人原地旋转一周时，如果机器人基坐标系与里程计坐标系相吻合，那么旋转半径参数无需调整；如果机器人基坐标系与里程计坐标系不吻合且rviz2中机器人的旋转角度大于实际旋转角度，那么请将旋转半径调大；如果机器人基坐标系与里程计坐标系不吻合且rviz2中机器人的旋转角度小于实际旋转角度，那么请将旋转半径调小。将计算出的结果写入 MyCar 机器人的配置文件对应的参数，并重新构建。",[10,168,169],{},"为了获得最佳结果，可以多次执行上述流程。每次执行后，测量并记录新的实际转角位移数据和rviz2中的坐标系相对关系，然后根据新的数据再次修正旋转半径。通过不断迭代这个过程，可以逐步优化旋转半径的估计值，减小转角位移的测量误差。",[10,171,172],{},[120,173,122],{},[124,175,176,179,182],{},[10,177,178],{},"如果使用的是以Arduino为主控的MyCar两轮差速机器人，那么需要修改ros2_arduino_bridge功能包下的params/arduino.yaml文件，该文件中有一个名为wheel_track参数即为车轮直径，在ros2_arduino_bridge中并未对左旋转和右旋转做区分；",[10,180,181],{},"如果使用的是以Stm32为主控的MyCar两轮差速机器人，那么需要修改ros2_stm32_bridge功能包下的params/stm32_2w.yaml文件，在机器人左旋转时，要标定的是名为model_param_acw的参数，在机器人右旋转时，要标定的是名为model_param_cw的参数；",[10,183,184],{},"如果使用的是以Stm32为主控的MyCar四轮差速机器人，那么需要修改ros2_stm32_bridge功能包下的params/stm32_4w.yaml文件，和两轮差速类似的，在机器人左旋转时，要标定的是名为model_param_acw的参数，在机器人右旋转时，要标定的是名为model_param_cw的参数。",[10,186,187],{},[35,188,189],{},"4.验证和调整",[10,191,192],{},"将标定后的轮式里程计应用于实际场景中，并进行验证和调整。观察车辆的实际位置和运动与估计值的差异，并进行必要的调整和校准。另外，当车辆使用环境发生改变，或持续使用较长一段时间后，建议对里程计进行重新标定。",[194,195,196],"style",{},"html pre.shiki code .sVt8B, html code.shiki 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