源码：https://github.com/rst-tu-dortmund/teb_local_planner.git
以husky为例子：
1.在gazebo里面配置好机器人底盘的环境
roslaunch husky_gazebo husky_playpen.launch
https://github.com/husky/husky/tree/kinetic-devel/husky_gazebo
2.配置teb
launch文件的内容
<launch>
<master auto = "start"/>
<!--Run footprint laser filter-->
<!--node name="laser_filter" pkg="tfrbt_navigation" type="laser_footprint_filter"-->
<!--Run the map server-->
<!--arg name = "map_file" default = "$(find tfrbt_navigation)/maps/tfrbt_map.yaml"/-->
<!--arg name = "map_file" default = "$(env TFRBT_MAP_FILE)"/-->
<node name = "map_server" pkg = "map_server" type = "map_server" args = "$(find tfrbt_navigation)/maps/tfrbt_map.yaml">
<param name="frame_id" value="/map"/>
</node>
<!--Run AMCL-->
<arg name = "custom_amcl_launch_file" default = "$(find tfrbt_navigation)/launch/includes/amcl/front_back_lasers.launch.xml"/>
<arg name = "initial_pose_x" default = "0.0"/>
<arg name = "initial_pose_y" default = "0.0"/>
<arg name = "initial_pose_a" default = "0.0"/>
<include file = "$(arg custom_amcl_launch_file)">
<arg name = "initial_pose_x" value = "arg initial_pose_x"/>
<arg name = "initial_pose_y" value = "arg initial_pose_y"/>
<arg name = "initial_pose_a" value = "arg initial_pose_a"/>
</include>
<!--Run Move Base-->
<arg name = "custom_param_file" default = "$(find tfrbt_navigation)/param/laser_costmap_params.yaml"/>
<include file = "$(find tfrbt_navigation)/launch/includes/move_base_teb.launch.xml"> <!--move_base_dwa.launch.xml-->
<arg name = "custom_param_file" value = "$(arg custom_param_file)"/>
</include>
<!--node name="rviz" pkg="rviz" type="rviz" args="-d $(find teb_local_planner_tutorials)/cfg/rviz_navigation.rviz"/-->
</launch>
主要是文件move_base_teb.launch.xml的配置，查看其内容
<launch>
<!--include file = "$(find tfrbt_navigation)/launch/includes/velocity_smoother.launch.xml"/-->
<!--include file = "$(find tfrbt_navigation)/launch/includes/safety_controller.launch.xml"/-->
<arg name = "odom_frame_id" default = "odom"/>
<arg name = "base_frame_id" default = "base_link"/>
<arg name = "global_frame_id" default = "map"/>
<arg name = "odom_topic" default = "odom"/>
<arg name = "laser_topic" default = "scan"/>
<arg name = "custom_param_file" default = "$(find tfrbt_navigation)/param/dummy.yaml"/>
<node pkg = "move_base" type = "move_base" respawn = "false" name = "move_base" output = "screen">
<rosparam file = "$(find tfrbt_navigation)/param/teb/costmap_common_params.yaml" command = "load" ns = "global_costmap"/>
<rosparam file = "$(find tfrbt_navigation)/param/teb/costmap_common_params.yaml" command = "load" ns = "local_costmap"/>
<rosparam file = "$(find tfrbt_navigation)/param/teb/local_costmap_params.yaml" command = "load"/>
<rosparam file = "$(find tfrbt_navigation)/param/teb/global_costmap_params.yaml" command = "load"/>
<rosparam file = "$(find tfrbt_navigation)/param/teb/teb_local_planner_params.yaml" command = "load"/>
<!--rosparam file = "$(find tfrbt_navigation)/param/teb/move_base_params.yaml" command = "load"/-->
<!--rosparam file = "$(find tfrbt_navigation)/param/teb/global_planner_params.yaml" command = "load"/-->
<!--rosparam file = "$(find tfrbt_navigation)/param/teb/navfn_global_planner_params.yaml" command = "load"/-->
<rosparam file = "$(arg custom_param_file)" command = "load"/>
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
<param name = "global_costmap/global_frame" value = "$(arg global_frame_id)"/>
<param name = "global_costmap/robot_base_frame" value = "$(arg base_frame_id)"/>
<param name = "local_costmap/global_frame" value = "$(arg odom_frame_id)"/>
<param name = "local_costmap/robot_base_frame" value = "$(arg base_frame_id)"/>
<!--param name = "DWAPlannerROS/global_frame_id" value = "$(arg odom_frame_id)"/-->
<!--remap from = "cmd_vel" to = "navigation_velocity_smoother/raw_cmd_vel"/-->
<remap from = "odom" to = "$(arg odom_topic)"/>
<remap from = "scan" to = "$(arg laser_topic)"/>
</node>
</launch>
costmap_common_params.yaml内容
#max_obstacle_height: 2.5 #assume something like an arm is mounted on top of the robot robot_radius: 0.63 footprint: [[-0.50, -0.38], [-0.50, 0.38], [0.50, 0.38], [0.50, -0.38]] footprint_padding: 0.02 transform_tolerance: 0.2 #map_type: voxel map_type: costmap always_send_full_costmap: true obstacle_layer: enabled: true obstacle_range: 3.0 raytrace_range: 4.0 inflation_radius: 0.4 track_unknown_space: true combination_method: 1 observation_sources: laser_scan_sensor laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true} inflation_layer: enabled: true cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10) inflation_radius: 0.65 # max. distance from an obstacle at which costs are incurred for planning paths. static_layer: enabled: true map_topic: "map"
local_costmap_params.yaml内容
local_costmap: global_frame: map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true 4 height: 4 resolution: 0.05 transform_tolerance: 0.5 inflation_layer: enabled: true cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10) inflation_radius: 0.65 # max. distance from an obstacle at which costs are incurred for planning paths. plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
global_costmap_params.yaml内容
global_costmap: global_frame: map robot_base_frame: base_link update_frequency: 1.0 publish_frequency: 0.5 static_map: true transform_tolerance: 0.5 plugins: - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} ~
teb_local_planner_params.yaml内容
TebLocalPlannerROS: odom_topic: odom # Trajectory teb_autosize: True dt_ref: 0.3 dt_hysteresis: 0.1 global_plan_overwrite_orientation: True allow_init_with_backwards_motion: False max_global_plan_lookahead_dist: 3.0 feasibility_check_no_poses: 5 # Robot max_vel_x: 0.5 max_vel_x_backwards: 0.5 max_vel_y: 0.0 max_vel_theta: 1.5 acc_lim_x: 0.5 acc_lim_theta: 0.5 min_turning_radius: 0.0 # diff-drive robot (can turn on place!) footprint_model: type: "point" # GoalTolerance xy_goal_tolerance: 0.2 yaw_goal_tolerance: 0.1 free_goal_vel: False # Obstacles min_obstacle_dist: 0.65 # This value must also include our robot radius, since footprint_model is set to "point". inflation_dist: 0.65 include_costmap_obstacles: True costmap_obstacles_behind_robot_dist: 1.5 obstacle_poses_affected: 30 costmap_converter_plugin: "" costmap_converter_spin_thread: True costmap_converter_rate: 5 # Optimization no_inner_iterations: 5 no_outer_iterations: 4 optimization_activate: True optimization_verbose: False penalty_epsilon: 0.01 weight_max_vel_x: 2 weight_max_vel_theta: 1 weight_acc_lim_x: 1 weight_acc_lim_theta: 1 weight_kinematics_nh: 1000 weight_kinematics_forward_drive: 1 weight_kinematics_turning_radius: 1 weight_optimaltime: 1 weight_obstacle: 50 weight_dynamic_obstacle: 10 # not in use yet weight_adapt_factor: 2 # Homotopy Class Planner enable_homotopy_class_planning: True enable_multithreading: True simple_exploration: False max_number_classes: 4 selection_cost_hysteresis: 1.0 selection_obst_cost_scale: 1.0 selection_alternative_time_cost: False roadmap_graph_no_samples: 15 roadmap_graph_area_ 5 h_signature_prescaler: 0.5 h_signature_threshold: 0.1 obstacle_keypoint_offset: 0.1 obstacle_heading_threshold: 0.45 visualize_hc_graph: False