导航启动（10）

测试导航包。

1. 在turtlebot_navigation下先新建一个 amcl_hokuyo.launch

<launch>
  <!-- 3D sensor -->
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
    
    <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
         Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 --> 
    <arg name="scan_topic" value="/scan" />
  </include>


  <!-- Define laser type-->
  <arg name="laser_type" default="hokuyo" />

  <!-- laser driver -->
  <include file="$(find turtlebot_navigation)/laser/driver/$(arg laser_type)_laser.launch" />

  <!-- Map server -->
  <arg name="map_file" default="/home/xx/map/lab.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- AMCL -->
  <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/>
  <arg name="initial_pose_x" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
  <arg name="initial_pose_y" default="0.0"/> <!-- Use 17.0 for willow's map in simulation -->
  <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>

  <!-- Move base -->
  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="custom_param_file" value="$(arg custom_param_file)"/>
  </include>

</launch>

2. 再新建一个amcl_chuan.launch 做导航的启动文件

<launch>
    <include file="$(find turtlebot_bringup)/launch/minimal.launch"/>
    <include file="$(find turtlebot_navigation)/launch/amcl_hokuyo.launch"/>
    <!--
  Used for visualising the turtlebot while building a map or navigating with the ros navistack.
 -->

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/navigation.rviz"/>

</launch>

3. 启动

roslaunch turtlebot_navigation amcl_chuan.launch