查看nav2_bringup/launch/navigation_launch.py文件,其中启动的节点有
controller_server
smoother_server
planner_server
behavior_server
bt_navigator
waypoint_follower
velocity_smoother
lifecycle_manager
当然还有定位的launch文件在nav2_bringup/launch/localization.py主要启动节点有
amcl
map_server
他们每个节点的参数配置在nav2_bringup/params/nav2_params.yaml中