[{"data":1,"prerenderedAt":588},["ShallowReactive",2],{"wiki-page-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":3,"wiki-doc-items-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":220,"language-switcher-data-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":572,"wiki-i18n-paths-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-lun-shi-li-cheng-ji-biao-ding":587},{"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":212,"locale":213,"localeSlug":214,"meta":215,"navigation":211,"path":200,"seo":216,"sourcePath":217,"sourceStem":209,"stem":218,"wikiDepth":87,"__hash__":219},"content/_i18n/zh-hk/wiki/2023-12-30-ros2-tutorial/ch14-8-1-1-轮式里程计标定.md","輪式里程計標定",{"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",{},"輪式里程計標定是校準機器人輪子的旋轉和移動，以提供機器人運動中的準確位置和姿態信息的方法。通過標定，可以修正因輪子尺寸和輪距等因素引起的誤差，獲得更準確的運動軌跡。本節將以MyCar導航機器人為例演示標定過程，其標定步驟如下：",[14,15,16,20,23,26],"ol",{},[17,18,19],"li",{},"準備測量場地；",[17,21,22],{},"線性位移標定；",[17,24,25],{},"轉角位移標定；",[17,27,28],{},"驗證和調整。",[10,30,31],{},"另外，該過程還需要使用尺子作為測量工具。",[10,33,34],{},[35,36,37],"strong",{},"1.準備測量場地",[10,39,40],{},"選擇一個開放而平坦的區域，確保沒有障礙物和其他干擾因素。",[10,42,43],{},[35,44,45],{},"2.線性位移標定",[10,47,48],{},"線性位移標定是用來標定機器人在直線移動時行進的距離。該標定與車輪直徑參數密切相關，當車輪直徑測量不準確或輪胎磨損時，會導致輪式里程計的線性位移出現誤差。以下是線性位移標定的主要步驟：",[10,50,51],{},[35,52,53],{},"（1）實際數據採集",[10,55,56],{},"啓動機器人底盤和鍵盤控制節點，使用鍵盤控制機器人向前直線運動一段距離，並測量線性位移數據。",[10,58,59],{},[35,60,61],{},"（2）里程計消息採集",[10,63,64],{},"機器人停止後，輸出里程計消息，並獲取里程計消息中的機器人的位移數據。",[10,66,67],{},[35,68,69],{},"（3）參數計算以及修改",[10,71,72],{},"收集實際位移數據（w1）和里程計消息中的位移數據（w2），並結合驅動包配置文件中的原輪胎直徑值（d1），即可計算修正後的輪胎直徑值（d）。計算公式如下：",[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],{},"將計算出的結果寫入 MyCar 機器人的配置文件對應的參數，並重新構建。",[10,115,116],{},"為了獲得最佳結果，可以多次執行上述流程。每次執行後，測量並記錄新的實際位移數據（w1）和里程計消息中的位移數據（w2），然後根據新的數據再次計算修正後的輪胎直徑值（d）。不斷迭代這個過程，可以逐步優化輪胎直徑的估計值，減小里程計的線性位移誤差。",[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為主控的MyCar兩輪差速機器人，那麼需要修改ros2_arduino_bridge功能包下的params/arduino.yaml文件，該文件中有一個名為wheel_diameter參數即為車輪直徑；",[10,130,131],{},"如果使用的是以Stm32為主控的MyCar兩輪差速機器人，那麼需要修改ros2_stm32_bridge功能包下的params/stm32_2w.yaml文件，該文件中有一個名為wheel_diameter參數即為車輪直徑；",[10,133,134],{},"如果使用的是以Stm32為主控的MyCar四輪差速機器人，那麼需要修改ros2_stm32_bridge功能包下的params/stm32_4w.yaml文件，該文件中有一個名為wheel_diameter參數即為車輪直徑。",[10,136,137],{},[35,138,139],{},"3.轉角位移標定",[10,141,142],{},"轉角位移標定是用來標定機器人在轉彎時的角度變化。該標定與底盤的旋轉半徑參數密切相關，當旋轉半徑設置不當時，會導致轉角位移的測量誤差。另外需要注意的是，如果是兩輪差速機器人，那麼旋轉半徑和輪間距基本一致。這是因為兩輪差速機器人在旋轉時沒有造成車體的側滑運動，所以可以使用輪間距來計算旋轉角度，並且旋轉半徑可以近似等於輪間距。然而，對於四輪差速機器人，在旋轉時會產生側滑，輪間距無法直接用於計算旋轉角度。四輪差速機器人的旋轉半徑需要通過實驗獲取，因為它的旋轉半徑受到側滑運動的影響。此外，由於機器人的左右側輪胎差異或車輛重心偏移等原因，左旋轉和右旋轉時計算旋轉角度所使用的旋轉半徑可能不同，因此需要進行分別實驗來獲取左右旋轉時的旋轉半徑。",[10,144,145],{},"以下是轉角位移標定的主要步驟：",[10,147,148],{},[35,149,53],{},[10,151,152],{},"啓動機器人底盤和鍵盤控制節點，使用鍵盤控制機器人原地旋轉，並測量轉角位移數據，比如可以原地旋轉一週。",[10,154,155],{},[35,156,61],{},[10,158,159],{},"機器人停止後，打開rviz2，並添加tf插件，以顯示機器人基座標系（一般是base_link或base_footprint）與里程計座標系（一般是odom）相對關係。",[10,161,162],{},[35,163,69],{},[10,165,166],{},"在機器人原地旋轉一週時，如果機器人基座標系與里程計座標系相吻合，那麼旋轉半徑參數無需調整；如果機器人基座標系與里程計座標系不吻合且rviz2中機器人的旋轉角度大於實際旋轉角度，那麼請將旋轉半徑調大；如果機器人基座標系與里程計座標系不吻合且rviz2中機器人的旋轉角度小於實際旋轉角度，那麼請將旋轉半徑調小。將計算出的結果寫入 MyCar 機器人的配置文件對應的參數，並重新構建。",[10,168,169],{},"為了獲得最佳結果，可以多次執行上述流程。每次執行後，測量並記錄新的實際轉角位移數據和rviz2中的座標系相對關係，然後根據新的數據再次修正旋轉半徑。通過不斷迭代這個過程，可以逐步優化旋轉半徑的估計值，減小轉角位移的測量誤差。",[10,171,172],{},[120,173,122],{},[124,175,176,179,182],{},[10,177,178],{},"如果使用的是以Arduino為主控的MyCar兩輪差速機器人，那麼需要修改ros2_arduino_bridge功能包下的params/arduino.yaml文件，該文件中有一個名為wheel_track參數即為車輪直徑，在ros2_arduino_bridge中並未對左旋轉和右旋轉做區分；",[10,180,181],{},"如果使用的是以Stm32為主控的MyCar兩輪差速機器人，那麼需要修改ros2_stm32_bridge功能包下的params/stm32_2w.yaml文件，在機器人左旋轉時，要標定的是名為model_param_acw的參數，在機器人右旋轉時，要標定的是名為model_param_cw的參數；",[10,183,184],{},"如果使用的是以Stm32為主控的MyCar四輪差速機器人，那麼需要修改ros2_stm32_bridge功能包下的params/stm32_4w.yaml文件，和兩輪差速類似的，在機器人左旋轉時，要標定的是名為model_param_acw的參數，在機器人右旋轉時，要標定的是名為model_param_cw的參數。",[10,186,187],{},[35,188,189],{},"4.驗證和調整",[10,191,192],{},"將標定後的輪式里程計應用於實際場景中，並進行驗證和調整。觀察車輛的實際位置和運動與估計值的差異，並進行必要的調整和校準。另外，當車輛使用環境發生改變，或持續使用較長一段時間後，建議對里程計進行重新標定。",[194,195,196],"style",{},"html pre.shiki code .sVt8B, html code.shiki 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