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