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程序源码:https://github.com/kkmd66/ZZX_RUN
Solidworks模型文件:https://github.com/kkmd66/ZZX_RUN/releases/tag/ZZX_RUN_Solidworks
Move_base-创建调用文件
虚拟导航:
fake_move_base.launch:
文件位置:zzx_run_navigation/launch/fake_move_base.launch
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<rosparam file="$(find zzx_run_navigation)/config/fake/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find zzx_run_navigation)/config/fake/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find zzx_run_navigation)/config/fake/local_costmap_params.yaml" command="load" />
<rosparam file="$(find zzx_run_navigation)/config/fake/global_costmap_params.yaml" command="load" />
<rosparam file="$(find zzx_run_navigation)/config/fake/base_local_planner_params.yaml" command="load" />
</node>
</launch>
仿真导航:
real_move_base.launch:
文件位置:zzx_run_navigation/launch/real_move_base.launch
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
<rosparam file="$(find zzx_run_navigation)/config/real/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find zzx_run_navigation)/config/real/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find zzx_run_navigation)/config/real/local_costmap_params.yaml" command="load" />
<rosparam file="$(find zzx_run_navigation)/config/real/global_costmap_params.yaml" command="load" />
<rosparam file="$(find zzx_run_navigation)/config/real/base_local_planner_params.yaml" command="load" />
</node>
</launch>
最后
有问题可以找我交流哦~