## RTAB-Map导航
### 1、内容说明
本节内容说明了如何结合小车底盘、激光雷达和深度相机以及Navigation2，实现RTAB-Map导航。
本节内容需要在终端中输入指令，主板直接打开终端，输入本节课程提及的指令即可。

### 2、准备工作
*   处在同一个局域网内，这个最简单的就是连接同一个wifi即可实现；我们的主板可以直接在主板上运行。
*   
### 3、程序启动
首先，小车终端输入以下指令，启动深度相机，
`ros2 launch ascamera hp60c.launch.py`

![](/media/202512/107faad3f80f440e92ca08d4c27348af7799.png)
虚拟机端输入以下指令，进行rviz可视化，
`ros2 launch yahboomcar_nav display_rtabmap_nav_launch.py`

![](/media/202512/def631f6eb7f4ebb9952ff78fe6101517561.png)
等待启动RTAB导航，终端输入以下指令，进行底盘+相机
`ros2 launch yahboomcar_nav navigation_rtabmap_launch.py `

![](/media/202512/9f73aad046014e4fbd0231c1865254eb7817.png)
同时rviz会显示出地图

![](/media/202512/4460ddaa4754435fa872370d276238cf9004.png)

*   从rviz中可以看到机器人能自动完成初始位置估计，无需手动初始化位置
*   如果小车初始位置偏差较大可以使用rviz工具栏中【2D Pose Estimate】工具给出大致的位置，即可完成快速定位
*   
![](/media/202512/9c493e1808cc41e8b6909189642c1b991076.png)
终端输入以下指令，启动navigation2导航，
`
ros2 launch yahboomcar\_nav rtabmap\_nav\_launch.py

全部成功启动后会出现膨胀区域，如下图，

![](/media/202512/ac4171df9b7944fb92174b3fdaf915472676.png)
然后使用rivz中的【Nav2 Goal 】工具就可以给定小车一个目标点，小车会导航到该点。

![](/media/202512/4eed9e43452c4c7c9ac9361f5fe06faa7291.png)

![](/media/202512/671195319a4b4db3a84d0df94df0ea033702.png)

**注意：如果导航效果不佳可以到封闭的环境进行建图导航，因为这款小车依赖深度视觉里程计，小车走直线不是很直当小车前进和拐弯都会导致深度视觉里程计会有偏差，最后累积误差多了导致出现漂移，如果在封闭的环境效果会好点，或者增加建图时间把地图的每一个特征点都记录多点。**

### 4、查看节点通讯图

终端输入，
`
ros2 run rqt_graph rqt_graph
`

![](/media/202512/4a99add98a4c40bfaf07f3e117905d9e5152.png)

### 5、rtabmap导航相关节点详情

查看rgb图像同步节点信息
`ros2 node info /rgbd_sync`

![](/media/202512/285d1a0c860e407d80d3647674d509115239.png)

查看/rtabmap节点
`ros2 node info /rtabmap`

```
/rtabmap
  Subscribers:
    /global_pose: geometry_msgs/msg/PoseWithCovarianceStamped
    /goal: geometry_msgs/msg/PoseStamped
    /goal_node: rtabmap_msgs/msg/Goal
    /gps/fix: sensor_msgs/msg/NavSatFix
    /imu: sensor_msgs/msg/Imu
    /initialpose: geometry_msgs/msg/PoseWithCovarianceStamped
    /landmark_detection: rtabmap_msgs/msg/LandmarkDetection
    /landmark_detections: rtabmap_msgs/msg/LandmarkDetections
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rgbd_image: rtabmap_msgs/msg/RGBDImage
    /rtabmap/republish_node_data: std_msgs/msg/Int32MultiArray
    /scan: sensor_msgs/msg/LaserScan
    /user_data_async: rtabmap_msgs/msg/UserData
  Publishers:
    /cloud_ground: sensor_msgs/msg/PointCloud2
    /cloud_map: sensor_msgs/msg/PointCloud2
    /cloud_obstacles: sensor_msgs/msg/PointCloud2
    /diagnostics: diagnostic_msgs/msg/DiagnosticArray
    /global_path: nav_msgs/msg/Path
    /global_path_nodes: rtabmap_msgs/msg/Path
    /goal_out: geometry_msgs/msg/PoseStamped
    /goal_reached: std_msgs/msg/Bool
    /grid_prob_map: nav_msgs/msg/OccupancyGrid
    /info: rtabmap_msgs/msg/Info
    /labels: visualization_msgs/msg/MarkerArray
    /landmarks: geometry_msgs/msg/PoseArray
    /local_grid_empty: sensor_msgs/msg/PointCloud2
    /local_grid_ground: sensor_msgs/msg/PointCloud2
    /local_grid_obstacle: sensor_msgs/msg/PointCloud2
    /local_path: nav_msgs/msg/Path
    /local_path_nodes: rtabmap_msgs/msg/Path
    /localization_pose: geometry_msgs/msg/PoseWithCovarianceStamped
    /map: nav_msgs/msg/OccupancyGrid
    /mapData: rtabmap_msgs/msg/MapData
    /mapGraph: rtabmap_msgs/msg/MapGraph
    /mapOdomCache: rtabmap_msgs/msg/MapGraph
    /mapPath: nav_msgs/msg/Path
    /octomap_binary: octomap_msgs/msg/Octomap
    /octomap_empty_space: sensor_msgs/msg/PointCloud2
    /octomap_full: octomap_msgs/msg/Octomap
    /octomap_global_frontier_space: sensor_msgs/msg/PointCloud2
    /octomap_grid: nav_msgs/msg/OccupancyGrid
    /octomap_ground: sensor_msgs/msg/PointCloud2
    /octomap_obstacles: sensor_msgs/msg/PointCloud2
    /octomap_occupied_space: sensor_msgs/msg/PointCloud2
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /tf: tf2_msgs/msg/TFMessage
  Service Servers:
    /rtabmap/add_link: rtabmap_msgs/srv/AddLink
    /rtabmap/backup: std_srvs/srv/Empty
    /rtabmap/cancel_goal: std_srvs/srv/Empty
    /rtabmap/cleanup_local_grids: rtabmap_msgs/srv/CleanupLocalGrids
    /rtabmap/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /rtabmap/detect_more_loop_closures: rtabmap_msgs/srv/DetectMoreLoopClosures
    /rtabmap/get_map: nav_msgs/srv/GetMap
    /rtabmap/get_map_data: rtabmap_msgs/srv/GetMap
    /rtabmap/get_map_data2: rtabmap_msgs/srv/GetMap2
    /rtabmap/get_node_data: rtabmap_msgs/srv/GetNodeData
    /rtabmap/get_nodes_in_radius: rtabmap_msgs/srv/GetNodesInRadius
    /rtabmap/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /rtabmap/get_parameters: rcl_interfaces/srv/GetParameters
    /rtabmap/get_plan: nav_msgs/srv/GetPlan
    /rtabmap/get_plan_nodes: rtabmap_msgs/srv/GetPlan
    /rtabmap/get_prob_map: nav_msgs/srv/GetMap
    /rtabmap/global_bundle_adjustment: rtabmap_msgs/srv/GlobalBundleAdjustment
    /rtabmap/list_labels: rtabmap_msgs/srv/ListLabels
    /rtabmap/list_parameters: rcl_interfaces/srv/ListParameters
    /rtabmap/load_database: rtabmap_msgs/srv/LoadDatabase
    /rtabmap/log_debug: std_srvs/srv/Empty
    /rtabmap/log_error: std_srvs/srv/Empty
    /rtabmap/log_info: std_srvs/srv/Empty
    /rtabmap/log_warning: std_srvs/srv/Empty
    /rtabmap/octomap_binary: octomap_msgs/srv/GetOctomap
    /rtabmap/octomap_full: octomap_msgs/srv/GetOctomap
    /rtabmap/pause: std_srvs/srv/Empty
    /rtabmap/publish_map: rtabmap_msgs/srv/PublishMap
    /rtabmap/remove_label: rtabmap_msgs/srv/RemoveLabel
    /rtabmap/reset: std_srvs/srv/Empty
    /rtabmap/resume: std_srvs/srv/Empty
    /rtabmap/set_goal: rtabmap_msgs/srv/SetGoal
    /rtabmap/set_label: rtabmap_msgs/srv/SetLabel
    /rtabmap/set_mode_localization: std_srvs/srv/Empty
    /rtabmap/set_mode_mapping: std_srvs/srv/Empty
    /rtabmap/set_parameters: rcl_interfaces/srv/SetParameters
    /rtabmap/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /rtabmap/trigger_new_map: std_srvs/srv/Empty
    /rtabmap/update_parameters: std_srvs/srv/Empty
  Service Clients:
    /rtabmap/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /rtabmap/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /rtabmap/get_parameters: rcl_interfaces/srv/GetParameters
    /rtabmap/list_parameters: rcl_interfaces/srv/ListParameters
    /rtabmap/set_parameters: rcl_interfaces/srv/SetParameters
    /rtabmap/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Action Servers:

Action Clients:
```