【校赛】配置nav2（四）设置机器人足迹

要想看到地图，必须要发布/map，用slam_box

ros2 launch slam_toolbox online_async_launch.py

所以顺序

 运行

复制写好的sam_bot_description

colcon build
. install/setup.bash
ros2 launch sam_bot_description display.launch.py

新开ctrl+alt+t终端发布一种转换

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom

新开ctrl+alt+t终端使用在sam_bot_description/config中刚刚创建的nav2_params.yaml和nav2_bringup的内置启动文件（就是你写成numble的那个包） navigation_launch.py 启动nav2

ros2 launch nav2_bringup navigation_launch.py params_file:=/home/shuling/gongzuo/sam_bot_description/config/nav2_params.yaml

新增地图

ros2 launch nav2_bringup navigation_launch.py params_file:=/home/shuling/gongzuo/sam_bot_description/config/speed_mask.yaml

 

要想看到地图，必须要发布/map，用slam_box

ros2 launch slam_toolbox online_async_launch.py

看足迹

在 By topic 选项卡下，选择 /local_costmap/published_footprint 主题下的 Polygon 

fixed_frame设为odom，看到矩形足迹

`/global_costmap/published_footprint``主题下的``Polygon`` 

看到圆形足迹