记录调试navigation碰到的问题

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已于 2024-12-18 23:49:41 修改 · 347 阅读

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#java #前端 #数据库

于 2024-12-18 21:29:45 首次发布

从scout_mini_navigation.launch出发进行修改，新建realworld.launch

<?xml version="1.0"?>
<launch>

    <!-- use robot pose ekf to provide odometry-->


    <node pkg="amcl" type="amcl" name="amcl" output="screen">
        <rosparam file="$(find scout_gazebo_sim)/param/amcl_params_diff.yaml" command="load" />
        <param name="initial_pose_x" value="0"/>
        <param name="initial_pose_y" value="0"/>
        <param name="initial_pose_a" value="0"/>
    </node>

    <node pkg="map_server" type="map_server" name="map_server" args="$(find scout_gazebo_sim)/maps/workstastion.yaml" output="screen">
        <param name="frame_id" value="map"/>
    </node>

    <!--  ************** Navigation ***************  -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find scout_gazebo_sim)/param/costmap_common_params.yaml" command="l