teb_local_planner如何使用

teb_local_planner是ROS中的一个局部路径规划器，用于生成机器人在环境中的局部路径。以下是使用teb_local_planner的基本步骤：

1. 安装teb_local_planner:

sudo apt-get install ros-<distro>-teb-local-planner

2. 在机器人的工作空间中创建一个catkin包，并在package.xml中添加如下依赖项：

<build_depend>teb_local_planner</build_depend>
<run_depend>teb_local_planner</run_depend>

3. 创建一个launch文件，将teb_local_planner配置为全局规划器的子规划器：

<launch>
  <node name="move_base" pkg="move_base" type="move_base" respawn="false" output="screen">
    <rosparam file="$(find your_robot_config)/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find your_robot_config)/global_planner_params.yaml" command="load" />
    <param name="base_global_planner" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
  </node>
</launch>

4. 在机器人配置文件夹下创建一个base_local_planner_params.yaml文件，并在其中添加TebLocalPlannerROS的参数设置。这里提供一个示例：

# TEB Local Planner parameters
TrajectoryPlannerROS:
  max_vel_x: 0.5
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.1
  escape_vel: -0.1
  acc_lim_x: 1.0
  acc_lim_th: 1.0
  holonomic_robot: false
  max_vel_theta: 1.0
  min_turning_radius: 0.2
  footprint_model: consavable_laser_scan
  footprint_padding: 0.1
  teb_autosize: true
  dt_ref: 0.3
  dt_hysteresis: 0.1
  min_samples: 3
  global_plan_overwrite_orientation: true
  allow_init_with_backwards_motion: false
  max_global_plan_lookahead_dist: 3.0
  force_reinit_new_goal_dist: 1.0
  force_reinit_new_goal_angular: 0.2
  inscribed_radius: 0.25
  circumscribed_radius: 0.3
  costmap_converter_plugin: ""
  costmap_converter_spin_thread: true
  visualize_subsampled_path: false
  visualize_voronoi_path: false
  visualize_infeasible_points: false
  visualize_dynamic_obstacles: false
  delete_detours_backwards: false
  detours_orientation_tolerance: 0.1
  weight_viapoint: 1.0
  weight_optimaltime: 1.0
  weight_shortest_path: 0.0
  viapoints_all_candidates: false
  max_number_classes: 0
  selection_cost_hysteresis: 0.1
  selection_prefer_initial_plan: false
  selection_obst_cost_scale: 10.0
  selection_viapoint_cost_scale: 1.0
  selection_alternative_time_cost: true
  selection_dropping_probability: 0.0
  selection_dropping_memory: 2

5. 启动机器人并运行局部路径规划器：

roslaunch your_robot_name teb_local_planner.launch

以上是使用teb_local_planner的基本步骤，你需要根据你的机器人配置和任务需求进行相应的参数配置。