rviz导航——2D Pose estimate

关于rviz中小车初始点的设置问题
一般有两种方法：
1打开rviz 在其上方工具栏中有2D Pose estimate，用来设置大概的初始点
2一般在amcl.launch文件中也会定义初始点，大多设为0 0 0

对于方法1
ros官网上是这么介绍的
When starting up, the TurtleBot does not know where it is. To provide it its approximate location on the map: Click the “2D Pose Estimate” button Click on the map where the TurtleBot approximately is and drag in the direction the TurtleBot is pointing. You will see a collection of arrows which are hypotheses of the position of the TurtleBot. The laser scan should line up approximately with the walls in the map. If things don’t line up well you can repeat the procedure.

注意 如果不设置比较准确的初始点的话。如下图，会导致导航过程中rviz中的小车和仿真（gazebo）中小车位置偏差很大，甚至最后都到不了目标点。