param name="initial_pose_x" value="1.0"/> <param name="initial_pose_y" value="1.0"/> <param name="initial_pose_a" value="1.5708"/>
时间: 2023-12-05 15:09:33 浏览: 30
These are parameters that define the initial position and orientation of a robot in a simulation environment.
- "initial_pose_x" specifies the initial position of the robot along the x-axis (horizontal axis) in the environment.
- "initial_pose_y" specifies the initial position of the robot along the y-axis (vertical axis) in the environment.
- "initial_pose_a" specifies the initial orientation of the robot in radians, where 0 radians points towards the positive x-axis and rotating counterclockwise increases the angle.
In this example, the robot is initially placed at position (1.0, 1.0) and oriented towards the positive y-axis (90 degrees or pi/2 radians).
相关问题
<?xml version="1.0"?> <launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_footprint"/> <arg name="odom_frame" default="nav"/> <arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/> <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> <!-- Frame names --> <param name="map_frame" value="map" /> <param name="base_frame" value="$(arg base_frame)" /> <param name="odom_frame" value="$(arg odom_frame)" /> <!-- Tf use --> <param name="use_tf_scan_transformation" value="true"/> <param name="use_tf_pose_start_estimate" value="false"/> <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/> <!-- Map size / start point --> <param name="map_resolution" value="0.050"/> <param name="map_size" value="$(arg map_size)"/> <param name="map_start_x" value="0.5"/> <param name="map_start_y" value="0.5" /> <param name="map_multi_res_levels" value="2" /> <!-- Map update parameters --> <param name="update_factor_free" value="0.4"/> <param name="update_factor_occupied" value="0.9" /> <param name="map_update_distance_thresh" value="0.4"/> <param name="map_update_angle_thresh" value="0.06" /> <param name="laser_z_min_value" value = "-1.0" /> <param name="laser_z_max_value" value = "1.0" /> <!-- Advertising config --> <param name="advertise_map_service" value="true"/> <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/> <param name="scan_topic" value="$(arg scan_topic)"/> <!-- Debug parameters --> <!-- <param name="output_timing" value="false"/> <param name="pub_drawings" value="true"/> <param name="pub_debug_output" value="true"/> --> <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" /> </node> <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/> </launch>
这是一个ROS的launch文件,用于启动Hector SLAM建图算法。launch文件中定义了一些参数和节点,其中包括:
- arg:定义了一些参数,可以在命令行中传入或者在launch文件中设置默认值。
- node:启动了hector_mapping节点,该节点是Hector SLAM建图算法的核心节点,用来生成地图和机器人的位姿估计。
- param:设置了一些hector_mapping节点的参数,包括地图的分辨率、大小、起始位置等,以及激光雷达数据的处理参数。
- static_transform_publisher:启动了一个tf节点,用来发布map坐标系到nav坐标系之间的静态坐标变换关系。
总的来说,这个launch文件的作用是启动Hector SLAM算法,生成地图并发布机器人的位姿估计。
将<component name="InspectionProjectProfileManager"> <profile version="1.0"> <option name="myName" value="Project Default" /> <inspection_tool class="JavaDoc" enabled="true" level="WARNING" enabled_by_default="true"> <option name="TOP_LEVEL_CLASS_OPTIONS"> <value> <option name="ACCESS_JAVADOC_REQUIRED_FOR" value="none" /> <option name="REQUIRED_TAGS" value="" /> </value> </option> <option name="INNER_CLASS_OPTIONS"> <value> <option name="ACCESS_JAVADOC_REQUIRED_FOR" value="none" /> <option name="REQUIRED_TAGS" value="" /> </value> </option> <option name="METHOD_OPTIONS"> <value> <option name="ACCESS_JAVADOC_REQUIRED_FOR" value="none" /> <option name="REQUIRED_TAGS" value="@return@param@throws or @exception" /> </value> </option> <option name="FIELD_OPTIONS"> <value> <option name="ACCESS_JAVADOC_REQUIRED_FOR" value="none" /> <option name="REQUIRED_TAGS" value="" /> </value> </option> <option name="IGNORE_DEPRECATED" value="false" /> <option name="IGNORE_JAVADOC_PERIOD" value="true" /> <option name="IGNORE_DUPLICATED_THROWS" value="false" /> <option name="IGNORE_POINT_TO_ITSELF" value="false" /> <option name="myAdditionalJavadocTags" value="date" /> </inspection_tool> </profile> </component>改为JSON格式的文件
{
"component": {
"name": "InspectionProjectProfileManager",
"profile": {
"version": "1.0",
"option": [
{
"name": "myName",
"value": "Project Default"
},
{
"inspection_tool": {
"class": "JavaDoc",
"enabled": "true",
"level": "WARNING",
"enabled_by_default": "true",
"option": [
{
"name": "TOP_LEVEL_CLASS_OPTIONS",
"value": {
"option": [
{
"name": "ACCESS_JAVADOC_REQUIRED_FOR",
"value": "none"
},
{
"name": "REQUIRED_TAGS",
"value": ""
}
]
}
},
{
"name": "INNER_CLASS_OPTIONS",
"value": {
"option": [
{
"name": "ACCESS_JAVADOC_REQUIRED_FOR",
"value": "none"
},
{
"name": "REQUIRED_TAGS",
"value": ""
}
]
}
},
{
"name": "METHOD_OPTIONS",
"value": {
"option": [
{
"name": "ACCESS_JAVADOC_REQUIRED_FOR",
"value": "none"
},
{
"name": "REQUIRED_TAGS",
"value": "@return@param@throws or @exception"
}
]
}
},
{
"name": "FIELD_OPTIONS",
"value": {
"option": [
{
"name": "ACCESS_JAVADOC_REQUIRED_FOR",
"value": "none"
},
{
"name": "REQUIRED_TAGS",
"value": ""
}
]
}
},
{
"name": "IGNORE_DEPRECATED",
"value": "false"
},
{
"name": "IGNORE_JAVADOC_PERIOD",
"value": "true"
},
{
"name": "IGNORE_DUPLICATED_THROWS",
"value": "false"
},
{
"name": "IGNORE_POINT_TO_ITSELF",
"value": "false"
},
{
"name": "myAdditionalJavadocTags",
"value": "date"
}
]
}
}
]
}
}
}