diff --git a/src/gc_bringup/CMakeLists.txt b/src/gc_bringup/CMakeLists.txt
deleted file mode 100644
index e6de6f1..0000000
--- a/src/gc_bringup/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(gc_bringup)
-
-if(NOT CMAKE_C_STANDARD)
- set(CMAKE_C_STANDARD 99)
-endif()
-
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(ament_cmake REQUIRED)
-
-install(
- DIRECTORY launch config maps rviz
- DESTINATION share/${PROJECT_NAME}
-)
-
-install(PROGRAMS
- scripts/nav_goal.py
- DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/gc_bringup/README.md b/src/gc_bringup/README.md
deleted file mode 100644
index 021d839..0000000
--- a/src/gc_bringup/README.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# gc_bringup
-
-GC 机器人启动包 — 阿克曼底盘 + 激光雷达 + SLAM 建图 + AMCL 导航
-
-## 📁 目录结构
-
-```
-gc_bringup/
-├── launch/
-│ ├── slam_mapping.launch.py # SLAM 在线建图
-│ ├── navigation.launch.py # AMCL 定位 + Nav2 导航
-│ └── navigation_slam.launch.py # slam_toolbox 定位 + Nav2 导航
-├── config/
-│ ├── nav2_params.yaml # Nav2 参数（阿克曼配置）
-│ ├── mapper_params_online_async.yaml # slam_toolbox 建图参数
-│ └── mapper_params_localization.yaml # slam_toolbox 定位参数
-├── maps/ # 地图文件存放
-├── rviz/ # RViz2 配置文件
-├── CMakeLists.txt
-└── package.xml
-```
-
-## 🚀 使用方式
-
-### 1. 编译
-```bash
-cd ~/test_ws
-colcon build --packages-select gc_bringup
-source install/setup.bash
-```
-
-### 2. SLAM 建图
-启动 Gazebo + 机器人 + slam_toolbox 在线异步建图：
-```bash
-ros2 launch gc_bringup slam_mapping.launch.py
-```
-
-在 RViz 中使用 "2D Nav Goal" 工具驱动机器人探索环境建图。
-
-保存地图：
-```bash
-ros2 run nav2_map_server map_saver_cli -f ~/test_ws/src/gc_bringup/maps/my_map
-```
-
-### 3. AMCL 导航（推荐）
-使用建好的地图进行 AMCL 定位 + Nav2 导航：
-```bash
-ros2 launch gc_bringup navigation.launch.py
-```
-
-操作步骤：
-1. 在 RViz 中使用 "2D Pose Estimate" 设置初始位姿
-2. 使用 "2D Nav Goal" 设置导航目标
-
-### 4. slam_toolbox 定位导航
-使用 slam_toolbox 定位模式（需要 .posegraph 文件）：
-```bash
-ros2 launch gc_bringup navigation_slam.launch.py
-```
-
-## 🔧 启动参数
-
-| 参数 | 默认值 | 说明 |
-|------|--------|------|
-| `use_sim_time` | `true` | 使用仿真时间 |
-| `use_gazebo` | `true` | 启动 Gazebo |
-| `use_rviz` | `true` | 启动 RViz2 |
-| `world` | `origincar_description/world/gc_world.world` | Gazebo 世界文件 |
-| `map` | `gc_bringup/maps/my_map.yaml` | 导航用地图 |
-
-## 🤖 机器人说明
-
-- **底盘类型**: 阿克曼转向 (Ackermann)
-- **传感器**: 360° 激光雷达 (LiDAR)、IMU
-- **控制器**: MPPI (Ackermann 运动模型)
-- **规划器**: Smac Hybrid (Reeds-Shepp，支持倒车)
-- **定位**: AMCL (自适应蒙特卡洛定位) 或 slam_toolbox 定位模式
diff --git a/src/gc_bringup/config/mapper_params_localization.yaml b/src/gc_bringup/config/mapper_params_localization.yaml
deleted file mode 100644
index 3ff9cfd..0000000
--- a/src/gc_bringup/config/mapper_params_localization.yaml
+++ /dev/null
@@ -1,60 +0,0 @@
-# =============================================================================
-# slam_toolbox 定位模式参数
-# 用于在已有地图上进行定位（替代 AMCL）
-# =============================================================================
-slam_toolbox:
- ros__parameters:
- # 基本设置
- solver_plugin: solver_plugins::CeresSolver
- ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
- ceres_preconditioner: SCHUR_JACOBI
- ceres_trust_strategy: LEVENBERG_MARQUARDT
- ceres_dogleg_type: TRADITIONAL_DOGLEG
- ceres_loss_function: None
-
- # ROS 参数
- odom_frame: odom
- map_frame: map
- base_frame: base_footprint
- scan_topic: /scan
- use_sim_time: True
- mode: localization
-
- # 调试
- debug_logging: false
- throttle_scans: 1
- transform_publish_period: 0.02
- map_update_interval: 10.0
- resolution: 0.05
- max_laser_range: 3.5
- minimum_time_interval: 0.5
- transform_timeout: 0.2
- tf_buffer_duration: 30.0
- stack_size_to_use: 40000000
-
- # 定位模式不需要回环检测
- loop_search_maximum_distance: 3.0
- loop_match_minimum_chain_size: 10
- loop_match_maximum_variance_coarse: 3.0
- loop_match_minimum_response_coarse: 0.35
- loop_match_minimum_response_fine: 0.45
-
- # 扫描匹配
- correlation_search_space_dimension: 0.5
- correlation_search_space_resolution: 0.01
- correlation_search_space_smear_deviation: 0.1
-
- # 回环闭合
- loop_search_space_dimension: 8.0
- loop_search_space_resolution: 0.05
- loop_search_space_smear_deviation: 0.03
-
- # 扫描匹配器
- distance_variance_penalty: 0.5
- angle_variance_penalty: 1.0
- fine_search_angle_offset: 0.00349
- coarse_search_angle_offset: 0.349
- coarse_angle_resolution: 0.0349
- minimum_angle_penalty: 0.9
- minimum_distance_penalty: 0.5
- use_response_expansion: true
diff --git a/src/gc_bringup/config/mapper_params_online_async.yaml b/src/gc_bringup/config/mapper_params_online_async.yaml
deleted file mode 100644
index 03e6cb5..0000000
--- a/src/gc_bringup/config/mapper_params_online_async.yaml
+++ /dev/null
@@ -1,61 +0,0 @@
-# =============================================================================
-# slam_toolbox 在线异步建图参数
-# 用于实时 SLAM 建图
-# =============================================================================
-slam_toolbox:
- ros__parameters:
- # 基本设置
- solver_plugin: solver_plugins::CeresSolver
- ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
- ceres_preconditioner: SCHUR_JACOBI
- ceres_trust_strategy: LEVENBERG_MARQUARDT
- ceres_dogleg_type: TRADITIONAL_DOGLEG
- ceres_loss_function: None
-
- # ROS 参数
- odom_frame: odom
- map_frame: map
- base_frame: base_footprint
- scan_topic: /scan
- use_sim_time: True
- mode: mapping
-
- # 调试
- debug_logging: false
- throttle_scans: 1
- transform_publish_period: 0.02
- map_update_interval: 5.0
- resolution: 0.05
- max_laser_range: 3.5
- minimum_time_interval: 0.5
- transform_timeout: 0.2
- tf_buffer_duration: 30.0
- stack_size_to_use: 40000000
- enable_interactive_mode: true
-
- # 回环检测
- loop_search_maximum_distance: 3.0
- loop_match_minimum_chain_size: 10
- loop_match_maximum_variance_coarse: 3.0
- loop_match_minimum_response_coarse: 0.35
- loop_match_minimum_response_fine: 0.45
-
- # 扫描匹配
- correlation_search_space_dimension: 0.5
- correlation_search_space_resolution: 0.01
- correlation_search_space_smear_deviation: 0.1
-
- # 回环闭合
- loop_search_space_dimension: 8.0
- loop_search_space_resolution: 0.05
- loop_search_space_smear_deviation: 0.03
-
- # 扫描匹配器
- distance_variance_penalty: 0.5
- angle_variance_penalty: 1.0
- fine_search_angle_offset: 0.00349
- coarse_search_angle_offset: 0.349
- coarse_angle_resolution: 0.0349
- minimum_angle_penalty: 0.9
- minimum_distance_penalty: 0.5
- use_response_expansion: true
diff --git a/src/gc_bringup/config/nav2_params.yaml b/src/gc_bringup/config/nav2_params.yaml
deleted file mode 100644
index 72dcd79..0000000
--- a/src/gc_bringup/config/nav2_params.yaml
+++ /dev/null
@@ -1,411 +0,0 @@
-# =============================================================================
-# Nav2 参数 — 阿克曼底盘 + AMCL + MPPI
-# =============================================================================
-
-amcl:
- ros__parameters:
- use_sim_time: True
- alpha1: 0.2
- alpha2: 0.2
- alpha3: 0.2
- alpha4: 0.2
- alpha5: 0.2
- base_frame_id: "base_footprint"
- beam_skip_distance: 0.5
- beam_skip_error_threshold: 0.9
- beam_skip_threshold: 0.3
- do_beamskip: false
- global_frame_id: "map"
- lambda_short: 0.1
- laser_likelihood_max_dist: 2.0
- laser_max_range: 100.0
- laser_min_range: -1.0
- laser_model_type: "likelihood_field"
- max_beams: 60
- max_particles: 2000
- min_particles: 500
- odom_frame_id: "odom"
- pf_err: 0.05
- pf_z: 0.99
- recovery_alpha_fast: 0.0
- recovery_alpha_slow: 0.0
- resample_interval: 1
- # ★ 自动设定初始位姿 — 不设置的话 map→odom 的 TF 不会发布
- set_initial_pose: true
- initial_pose:
- x: 0.0
- y: 0.0
- z: 0.0
- yaw: 0.0
- robot_model_type: "nav2_amcl::DifferentialMotionModel"
- save_pose_rate: 0.5
- sigma_hit: 0.2
- tf_broadcast: true
- transform_tolerance: 10.0
- update_min_a: 0.2
- update_min_d: 0.25
- z_hit: 0.5
- z_max: 0.05
- z_rand: 0.5
- z_short: 0.05
- scan_topic: scan
-
-amcl_map_client:
- ros__parameters:
- use_sim_time: True
-
-amcl_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-bt_navigator:
- ros__parameters:
- use_sim_time: True
- global_frame: map
- robot_base_frame: base_footprint
- odom_topic: /odom
- bt_loop_duration: 10
- default_server_timeout: 20
- plugin_lib_names:
- - nav2_compute_path_to_pose_action_bt_node
- - nav2_compute_path_through_poses_action_bt_node
- - nav2_smooth_path_action_bt_node
- - nav2_follow_path_action_bt_node
- - nav2_spin_action_bt_node
- - nav2_wait_action_bt_node
- - nav2_back_up_action_bt_node
- - nav2_drive_on_heading_bt_node
- - nav2_clear_costmap_service_bt_node
- - nav2_is_stuck_condition_bt_node
- - nav2_goal_reached_condition_bt_node
- - nav2_goal_updated_condition_bt_node
- - nav2_globally_updated_goal_condition_bt_node
- - nav2_is_path_valid_condition_bt_node
- - nav2_initial_pose_received_condition_bt_node
- - nav2_reinitialize_global_localization_service_bt_node
- - nav2_rate_controller_bt_node
- - nav2_distance_controller_bt_node
- - nav2_speed_controller_bt_node
- - nav2_truncate_path_action_bt_node
- - nav2_truncate_path_local_action_bt_node
- - nav2_goal_updater_node_bt_node
- - nav2_recovery_node_bt_node
- - nav2_pipeline_sequence_bt_node
- - nav2_round_robin_node_bt_node
- - nav2_transform_available_condition_bt_node
- - nav2_time_expired_condition_bt_node
- - nav2_path_expiring_timer_condition
- - nav2_distance_traveled_condition_bt_node
- - nav2_single_trigger_bt_node
- - nav2_is_battery_low_condition_bt_node
- - nav2_navigate_through_poses_action_bt_node
- - nav2_navigate_to_pose_action_bt_node
- - nav2_remove_passed_goals_action_bt_node
- - nav2_planner_selector_bt_node
- - nav2_controller_selector_bt_node
- - nav2_goal_checker_selector_bt_node
- - nav2_controller_cancel_bt_node
- - nav2_path_longer_on_approach_bt_node
- - nav2_wait_cancel_bt_node
- - nav2_spin_cancel_bt_node
- - nav2_back_up_cancel_bt_node
- - nav2_drive_on_heading_cancel_bt_node
-
-bt_navigator_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-controller_server:
- ros__parameters:
- use_sim_time: True
- controller_frequency: 30.0
- controller_plugins: ["FollowPath"]
- progress_checker:
- plugin: "nav2_controller::SimpleProgressChecker"
- required_movement_radius: 0.5
- movement_time_allowance: 10.0
- goal_checker:
- plugin: "nav2_controller::SimpleGoalChecker"
- xy_goal_tolerance: 0.25
- yaw_goal_tolerance: 0.25
- FollowPath:
- plugin: "nav2_mppi_controller::MPPIController"
- time_steps: 56
- model_dt: 0.05
- batch_size: 2000
- vx_std: 0.2
- vy_std: 0.0
- wz_std: 0.4
- vx_max: 0.5
- vx_min: -0.35
- vy_max: 0.0
- wz_max: 1.9
- iteration_count: 1
- temperature: 0.3
- gamma: 0.015
- motion_model: "Ackermann"
- visualize: false
- TrajectoryVisualizer:
- trajectory_step: 5
- time_step: 3
- AckermannConstraints:
- min_turning_r: 0.4
- critics:
- - "ConstraintCritic"
- - "CostCritic"
- - "GoalCritic"
- - "GoalAngleCritic"
- - "PathAlignCritic"
- - "PathFollowCritic"
- - "PathAngleCritic"
- - "PreferForwardCritic"
- ConstraintCritic:
- enabled: true
- cost_power: 1
- cost_weight: 4.0
- GoalCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- threshold_to_consider: 1.4
- GoalAngleCritic:
- enabled: true
- cost_power: 1
- cost_weight: 3.0
- threshold_to_consider: 0.5
- PreferForwardCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- threshold_to_consider: 0.5
- CostCritic:
- enabled: true
- cost_power: 1
- cost_weight: 3.81
- critical_cost: 300.0
- consider_footprint: true
- collision_cost: 1000000.0
- near_goal_distance: 1.0
- trajectory_point_step: 2
- PathAlignCritic:
- enabled: true
- cost_power: 1
- cost_weight: 14.0
- max_path_occupancy_ratio: 0.05
- trajectory_point_step: 4
- threshold_to_consider: 0.5
- offset_from_furthest: 20
- use_path_orientations: false
- PathFollowCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- offset_from_furthest: 5
- threshold_to_consider: 1.4
- PathAngleCritic:
- enabled: true
- cost_power: 1
- cost_weight: 2.0
- offset_from_furthest: 4
- threshold_to_consider: 0.5
- max_angle_to_furthest: 1.0
- forward_preference: true
-
-controller_server_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-planner_server:
- ros__parameters:
- planner_plugins: ["GridBased"]
- use_sim_time: True
- GridBased:
- plugin: "nav2_smac_planner/SmacPlannerHybrid"
- downsample_costmap: false
- downsampling_factor: 1
- tolerance: 0.25
- allow_unknown: true
- max_iterations: 1000000
- max_on_approach_iterations: 1000
- max_planning_time: 5.0
- motion_model_for_search: "REEDS_SHEPP"
- angle_quantization_bins: 72
- analytic_expansion_ratio: 3.5
- analytic_expansion_max_length: 3.0
- minimum_turning_radius: 0.40
- reverse_penalty: 2.0
- change_penalty: 0.0
- non_straight_penalty: 1.2
- cost_penalty: 2.0
- retrospective_penalty: 0.015
- lookup_table_size: 20.0
- cache_obstacle_heuristic: false
- viz_expansions: false
- smooth_path: True
- smoother:
- max_iterations: 1000
- w_smooth: 0.3
- w_data: 0.2
- tolerance: 1.0e-10
- do_refinement: true
- refinement_num: 2
-
-planner_server_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-smoother_server:
- ros__parameters:
- use_sim_time: True
- smoother_plugins: ["simple_smoother"]
- simple_smoother:
- plugin: "nav2_smoother::SimpleSmoother"
- tolerance: 1.0e-10
- max_its: 1000
- do_refinement: True
-
-behavior_server:
- ros__parameters:
- costmap_topic: local_costmap/costmap_raw
- footprint_topic: local_costmap/published_footprint
- cycle_frequency: 10.0
- behavior_plugins: ["spin", "backup", "wait"]
- spin:
- plugin: "nav2_behaviors/Spin"
- backup:
- plugin: "nav2_behaviors/BackUp"
- wait:
- plugin: "nav2_behaviors/Wait"
- global_frame: odom
- robot_base_frame: base_footprint
- transform_tolerance: 0.5
- use_sim_time: True
- simulate_ahead_time: 2.0
- max_rotational_vel: 1.0
- min_rotational_vel: 0.4
- rotational_acc_lim: 3.2
-
-behavior_server_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-local_costmap:
- local_costmap:
- ros__parameters:
- update_frequency: 5.0
- publish_frequency: 2.0
- transform_tolerance: 0.5
- global_frame: odom
- robot_base_frame: base_footprint
- use_sim_time: True
- rolling_window: true
- width: 3
- height: 3
- resolution: 0.05
- footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
- footprint_padding: 0.02
- plugins: ["voxel_layer", "inflation_layer"]
- inflation_layer:
- plugin: "nav2_costmap_2d::InflationLayer"
- cost_scaling_factor: 3.0
- inflation_radius: 0.55
- voxel_layer:
- plugin: "nav2_costmap_2d::VoxelLayer"
- enabled: True
- publish_voxel_map: True
- origin_z: 0.0
- z_resolution: 0.05
- z_voxels: 16
- max_obstacle_height: 2.0
- mark_threshold: 0
- observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
- data_type: "LaserScan"
- raytrace_max_range: 3.0
- raytrace_min_range: 0.0
- obstacle_max_range: 2.5
- obstacle_min_range: 0.0
- static_layer:
- map_subscribe_transient_local: True
- always_send_full_costmap: True
- local_costmap_client:
- ros__parameters:
- use_sim_time: True
- local_costmap_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-global_costmap:
- global_costmap:
- ros__parameters:
- use_sim_time: True
- transform_tolerance: 0.5
- update_frequency: 1.0
- publish_frequency: 1.0
- global_frame: map
- robot_base_frame: base_footprint
- footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
- footprint_padding: 0.02
- resolution: 0.05
- track_unknown_space: true
- plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
- obstacle_layer:
- plugin: "nav2_costmap_2d::ObstacleLayer"
- enabled: True
- observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
- data_type: "LaserScan"
- raytrace_max_range: 3.0
- raytrace_min_range: 0.0
- obstacle_max_range: 2.5
- obstacle_min_range: 0.0
- static_layer:
- plugin: "nav2_costmap_2d::StaticLayer"
- map_subscribe_transient_local: True
- inflation_layer:
- plugin: "nav2_costmap_2d::InflationLayer"
- cost_scaling_factor: 3.0
- inflation_radius: 0.55
- always_send_full_costmap: True
- global_costmap_client:
- ros__parameters:
- use_sim_time: True
- global_costmap_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-map_server:
- ros__parameters:
- use_sim_time: True
- yaml_filename: ""
-
-map_saver:
- ros__parameters:
- use_sim_time: True
- save_map_timeout: 5.0
- free_thresh_default: 0.25
- occupied_thresh_default: 0.65
- map_subscribe_transient_local: True
-
-robot_state_publisher:
- ros__parameters:
- use_sim_time: True
-
-waypoint_follower:
- ros__parameters:
- loop_rate: 20
- use_sim_time: True
- stop_on_failure: false
- waypoint_task_executor_plugin: "wait_at_waypoint"
- wait_at_waypoint:
- plugin: "nav2_waypoint_follower::WaitAtWaypoint"
- enabled: True
- waypoint_pause_duration: 200
diff --git a/src/gc_bringup/launch/navigation.launch.py b/src/gc_bringup/launch/navigation.launch.py
deleted file mode 100644
index aa035b8..0000000
--- a/src/gc_bringup/launch/navigation.launch.py
+++ /dev/null
@@ -1,211 +0,0 @@
-#!/usr/bin/env python3
-# =============================================================================
-# gc_bringup — AMCL 导航模式 (直接启动 Nav2 节点)
-# 启动 Gazebo + 机器人 + Nav2 (AMCL 定位)
-# =============================================================================
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
- TimerAction)
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration, Command
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
-
-
-def generate_launch_description():
- bringup_dir = get_package_share_directory('gc_bringup')
- origincar_dir = get_package_share_directory('origincar_description')
-
- # ==================== 参数 ====================
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- use_gazebo = LaunchConfiguration('use_gazebo', default='true')
- use_rviz = LaunchConfiguration('use_rviz', default='false')
- world = LaunchConfiguration('world', default=os.path.join(
- origincar_dir, 'world', 'gc_world.world'))
- map_yaml = LaunchConfiguration('map', default=os.path.join(
- bringup_dir, 'maps', 'my_map.yaml'))
-
- declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
- declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
- declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='false')
- declare_world = DeclareLaunchArgument(
- 'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
- declare_map = DeclareLaunchArgument(
- 'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
-
- # ==================== 机器人模型 ====================
- default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
- robot_description = ParameterValue(
- Command(['xacro ', default_model_path]), value_type=str)
-
-
- # ==================== Gazebo ====================
- start_gazebo = ExecuteProcess(
- condition=IfCondition(use_gazebo),
- cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
- '-s', 'libgazebo_ros_factory.so', world],
- output='screen')
-
-
-
- spawn_robot = Node(
- condition=IfCondition(use_gazebo),
- package='gazebo_ros',
- executable='spawn_entity.py',
- arguments=['-entity', 'mycar', '-file', default_model_path,
- '-x', '0.0', '-y', '0.0', '-z', '0.1'],
- output='screen')
-
- # ==================== TF & 机器人状态 ====================
- robot_state_publisher = Node(
- package='robot_state_publisher',
- executable='robot_state_publisher',
- name='robot_state_publisher',
- parameters=[{'robot_description': robot_description,
- 'use_sim_time': True, 'publish_frequency': 30.0}],
- output='screen')
-
- joint_state_publisher = Node(
- package='joint_state_publisher',
- executable='joint_state_publisher',
- name='joint_state_publisher',
- parameters=[{'use_sim_time': True}], output='screen')
-
- # ==================== Nav2 参数文件路径 ====================
- nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
-
- # ==================== Map Server ====================
- map_server = Node(
- package='nav2_map_server',
- executable='map_server',
- name='map_server',
- output='screen',
- parameters=[nav2_params,
- {'use_sim_time': True, 'yaml_filename': map_yaml}],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== AMCL ====================
- amcl = Node(
- package='nav2_amcl',
- executable='amcl',
- name='amcl',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== Planner Server ====================
- planner_server = Node(
- package='nav2_planner',
- executable='planner_server',
- name='planner_server',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== Controller Server ====================
- controller_server = Node(
- package='nav2_controller',
- executable='controller_server',
- name='controller_server',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== Behavior Server ====================
- behavior_server = Node(
- package='nav2_behaviors',
- executable='behavior_server',
- name='behavior_server',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
-
- # ==================== BT Navigator ====================
- bt_navigator = Node(
- package='nav2_bt_navigator',
- executable='bt_navigator',
- name='bt_navigator',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== Waypoint Follower ====================
- waypoint_follower = Node(
- package='nav2_waypoint_follower',
- executable='waypoint_follower',
- name='waypoint_follower',
- output='screen',
- parameters=[nav2_params, {'use_sim_time': True}],
- remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
- ros_arguments=['-p', 'use_sim_time:=True'],
- )
-
- # ==================== Lifecycle Manager (map + amcl) ====================
- lifecycle_localization = Node(
- package='nav2_lifecycle_manager',
- executable='lifecycle_manager',
- name='lifecycle_manager_localization',
- output='screen',
- parameters=[{'use_sim_time': True, 'autostart': True,
- 'node_names': ['map_server', 'amcl']}],
- )
-
- # ==================== Lifecycle Manager (nav nodes) ====================
- lifecycle_navigation = Node(
- package='nav2_lifecycle_manager',
- executable='lifecycle_manager',
- name='lifecycle_manager_navigation',
- output='screen',
- parameters=[{'use_sim_time': True, 'autostart': True,
- 'node_names': ['controller_server', 'planner_server',
- 'behavior_server', 'bt_navigator',
- 'waypoint_follower']}],
- )
-
- # ==================== RViz2 (可选) ====================
- rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
- rviz_node = Node(
- condition=IfCondition(use_rviz),
- package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config],
- parameters=[{'use_sim_time': True}],
- output='screen')
-
- # ==================== 组装 ====================
- ld = LaunchDescription()
- ld.add_action(declare_use_sim_time)
- ld.add_action(declare_use_gazebo)
- ld.add_action(declare_use_rviz)
- ld.add_action(declare_world)
- ld.add_action(declare_map)
-
- ld.add_action(start_gazebo)
- ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
- ld.add_action(robot_state_publisher)
- ld.add_action(joint_state_publisher)
-
- ld.add_action(TimerAction(period=8.0, actions=[
- map_server, amcl,
- planner_server, controller_server, behavior_server, bt_navigator,
- waypoint_follower,
- lifecycle_localization, lifecycle_navigation,
- rviz_node,
- ]))
-
- return ld
diff --git a/src/gc_bringup/launch/navigation_slam.launch.py b/src/gc_bringup/launch/navigation_slam.launch.py
deleted file mode 100644
index eff37ac..0000000
--- a/src/gc_bringup/launch/navigation_slam.launch.py
+++ /dev/null
@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-# =============================================================================
-# gc_bringup — slam_toolbox 定位 + 导航模式
-# 使用 slam_toolbox 定位模式替代 AMCL，适用于有 posegraph 的场景
-# =============================================================================
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
- IncludeLaunchDescription, TimerAction)
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, Command
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
-
-
-def generate_launch_description():
- # ============================ 包路径 ============================
- bringup_dir = get_package_share_directory('gc_bringup')
- origincar_dir = get_package_share_directory('origincar_description')
- nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-
- # ============================ 启动参数 ============================
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- use_gazebo = LaunchConfiguration('use_gazebo', default='true')
- use_rviz = LaunchConfiguration('use_rviz', default='true')
- world = LaunchConfiguration('world', default=os.path.join(
- origincar_dir, 'world', 'gc_world.world'))
- map_yaml = LaunchConfiguration('map', default=os.path.join(
- bringup_dir, 'maps', 'my_map.yaml'))
-
- declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
- declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
- declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='true')
- declare_world = DeclareLaunchArgument(
- 'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
- declare_map = DeclareLaunchArgument(
- 'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
-
- # ============================ 机器人模型 ============================
- default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
- robot_description = ParameterValue(
- Command(['xacro ', default_model_path]), value_type=str)
-
- # ============================ Gazebo ============================
- start_gazebo = ExecuteProcess(
- condition=IfCondition(use_gazebo),
- cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
- '-s', 'libgazebo_ros_factory.so', world],
- output='screen'
- )
-
- spawn_robot = Node(
- condition=IfCondition(use_gazebo),
- package='gazebo_ros',
- executable='spawn_entity.py',
- arguments=['-entity', 'mycar',
- '-file', default_model_path,
- '-x', '0.0', '-y', '0.0', '-z', '0.1'],
- output='screen'
- )
-
- # ============================ TF & 机器人状态 ============================
- robot_state_publisher = Node(
- package='robot_state_publisher',
- executable='robot_state_publisher',
- name='robot_state_publisher',
- parameters=[{
- 'robot_description': robot_description,
- 'use_sim_time': True,
- 'publish_frequency': 30.0
- }],
- output='screen'
- )
-
- joint_state_publisher = Node(
- package='joint_state_publisher',
- executable='joint_state_publisher',
- name='joint_state_publisher',
- parameters=[{'use_sim_time': True}],
- output='screen'
- )
-
- # ============================ slam_toolbox 定位模式 ============================
- map_base_path = os.path.join(bringup_dir, 'maps', 'my_map')
- slam_localization_params = os.path.join(
- bringup_dir, 'config', 'mapper_params_localization.yaml')
-
- slam_toolbox_node = Node(
- package='slam_toolbox',
- executable='localization_slam_toolbox_node',
- name='slam_toolbox',
- output='screen',
- parameters=[
- slam_localization_params,
- {
- 'map_file_name': map_base_path,
- 'use_sim_time': True
- }
- ]
- )
-
- # ============================ Nav2 Bringup (关闭内部定位，用 slam_toolbox) ============================
- nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
- nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
-
- nav2_bringup = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(nav2_launch_path),
- launch_arguments={
- 'map': map_yaml,
- 'use_sim_time': use_sim_time,
- 'params_file': nav2_params,
- 'slam': 'False',
- 'autostart': 'True',
- 'use_composition': 'False',
- }.items(),
- )
-
- # ============================ RViz2 ============================
- rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
- rviz_node = Node(
- condition=IfCondition(use_rviz),
- package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config],
- parameters=[{'use_sim_time': True}],
- output='screen'
- )
-
- # ============================ 组装 ============================
- ld = LaunchDescription()
-
- ld.add_action(declare_use_sim_time)
- ld.add_action(declare_use_gazebo)
- ld.add_action(declare_use_rviz)
- ld.add_action(declare_world)
- ld.add_action(declare_map)
-
- ld.add_action(start_gazebo)
- ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
- ld.add_action(robot_state_publisher)
- ld.add_action(joint_state_publisher)
- ld.add_action(TimerAction(
- period=8.0,
- actions=[slam_toolbox_node, nav2_bringup, rviz_node]
- ))
-
- return ld
diff --git a/src/gc_bringup/launch/slam_mapping.launch.py b/src/gc_bringup/launch/slam_mapping.launch.py
deleted file mode 100644
index 2b39408..0000000
--- a/src/gc_bringup/launch/slam_mapping.launch.py
+++ /dev/null
@@ -1,153 +0,0 @@
-#!/usr/bin/env python3
-# =============================================================================
-# gc_bringup — SLAM 建图模式
-# 启动 Gazebo + 机器人 + slam_toolbox 在线异步建图 + RViz
-# =============================================================================
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import LaunchConfiguration, Command
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
-
-
-def generate_launch_description():
- # ============================ 包路径 ============================
- bringup_dir = get_package_share_directory('gc_bringup')
- origincar_dir = get_package_share_directory('origincar_description')
-
- # ============================ 启动参数 ============================
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- use_gazebo = LaunchConfiguration('use_gazebo', default='true')
- use_rviz = LaunchConfiguration('use_rviz', default='false')
- world = LaunchConfiguration('world', default=os.path.join(
- origincar_dir, 'world', 'gc_world.world'))
-
- declare_use_sim_time = DeclareLaunchArgument(
- 'use_sim_time', default_value='true',
- description='Use simulation (Gazebo) clock if true')
- declare_use_gazebo = DeclareLaunchArgument(
- 'use_gazebo', default_value='true',
- description='Start Gazebo simulation')
- declare_use_rviz = DeclareLaunchArgument(
- 'use_rviz', default_value='false',
- description='Start RViz2 (set true if you need local visualization)')
- declare_world = DeclareLaunchArgument(
- 'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'),
- description='Full path to Gazebo world file')
-
- # ============================ 机器人模型 ============================
- default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
- robot_description = ParameterValue(
- Command(['xacro ', default_model_path]), value_type=str)
-
- # ============================ Gazebo ============================
- start_gazebo = ExecuteProcess(
- condition=IfCondition(use_gazebo),
- cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
- '-s', 'libgazebo_ros_factory.so', world],
- output='screen'
- )
-
- spawn_robot = Node(
- condition=IfCondition(use_gazebo),
- package='gazebo_ros',
- executable='spawn_entity.py',
- arguments=['-entity', 'mycar',
- '-file', default_model_path,
- '-x', '0.0', '-y', '0.0', '-z', '0.1'],
- output='screen'
- )
-
- # ============================ TF & 机器人状态 ============================
- robot_state_publisher = Node(
- package='robot_state_publisher',
- executable='robot_state_publisher',
- name='robot_state_publisher',
- parameters=[{
- 'robot_description': robot_description,
- 'use_sim_time': True,
- 'publish_frequency': 30.0
- }],
- output='screen'
- )
-
- joint_state_publisher = Node(
- package='joint_state_publisher',
- executable='joint_state_publisher',
- name='joint_state_publisher',
- parameters=[{'use_sim_time': True}],
- output='screen'
- )
-
- # ============================ SLAM Toolbox (在线异步建图) ============================
- slam_params_file = os.path.join(
- bringup_dir, 'config', 'mapper_params_online_async.yaml')
-
- slam_toolbox_node = Node(
- package='slam_toolbox',
- executable='async_slam_toolbox_node',
- name='slam_toolbox',
- output='screen',
- parameters=[slam_params_file, {'use_sim_time': True}],
- remappings=[('/scan', '/scan')]
- )
-
- # ============================ RViz2 ============================
- rviz_config = os.path.join(bringup_dir, 'rviz', 'slam_mapping.rviz')
- rviz_node = Node(
- condition=IfCondition(use_rviz),
- package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config],
- parameters=[{'use_sim_time': True}],
- output='screen'
- )
-
- # ============================ 键盘遥控 (用于驱动机器人建图) ============================
- use_teleop = LaunchConfiguration('use_teleop', default='true')
- declare_use_teleop = DeclareLaunchArgument(
- 'use_teleop', default_value='true',
- description='Start keyboard teleop for driving')
-
- teleop_node = Node(
- condition=IfCondition(use_teleop),
- package='teleop_twist_keyboard',
- executable='teleop_twist_keyboard',
- name='teleop_twist_keyboard',
- prefix='xterm -e',
- output='screen',
- remappings=[('/cmd_vel', '/cmd_vel')],
- parameters=[{'use_sim_time': True}]
- )
-
- # ============================ 组装启动描述 ============================
- ld = LaunchDescription()
-
- ld.add_action(declare_use_sim_time)
- ld.add_action(declare_use_gazebo)
- ld.add_action(declare_use_rviz)
- ld.add_action(declare_world)
- ld.add_action(declare_use_teleop)
-
- ld.add_action(start_gazebo)
-
- # 等 Gazebo 启动后再生成机器人 (延迟 5 秒)
- ld.add_action(TimerAction(
- period=5.0,
- actions=[spawn_robot]
- ))
-
- ld.add_action(robot_state_publisher)
- ld.add_action(joint_state_publisher)
-
- # 等机器人生成后再启动 SLAM (延迟 3 秒)
- ld.add_action(TimerAction(
- period=8.0,
- actions=[slam_toolbox_node, teleop_node, rviz_node]
- ))
-
- return ld
diff --git a/src/gc_bringup/maps/my_map.pgm b/src/gc_bringup/maps/my_map.pgm
deleted file mode 100644
index 9c42b7c..0000000
Binary files a/src/gc_bringup/maps/my_map.pgm and /dev/null differ
diff --git a/src/gc_bringup/maps/my_map.posegraph b/src/gc_bringup/maps/my_map.posegraph
deleted file mode 100644
index 34c432a..0000000
Binary files a/src/gc_bringup/maps/my_map.posegraph and /dev/null differ
diff --git a/src/gc_bringup/maps/my_map.yaml b/src/gc_bringup/maps/my_map.yaml
deleted file mode 100644
index 900d49a..0000000
--- a/src/gc_bringup/maps/my_map.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: my_map.pgm
-mode: trinary
-resolution: 0.05
-origin: [-9.95, -8.29, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25
\ No newline at end of file
diff --git a/src/gc_bringup/package.xml b/src/gc_bringup/package.xml
deleted file mode 100644
index d4e5e6f..0000000
--- a/src/gc_bringup/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
- gc_bringup
- 1.0.0
- GC Robot Bringup: SLAM mapping and AMCL navigation for Ackermann robot with LiDAR
- guoch
- Apache-2.0
-
- ament_cmake
-
- gazebo_ros
- robot_state_publisher
- joint_state_publisher
- rviz2
- nav2_bringup
- slam_toolbox
- origincar_description
- xacro
- teleop_twist_keyboard
-
- ament_lint_auto
- ament_lint_common
-
-
- ament_cmake
-
-
diff --git a/src/gc_bringup/rviz/navigation.rviz b/src/gc_bringup/rviz/navigation.rviz
deleted file mode 100644
index 31e17ba..0000000
--- a/src/gc_bringup/rviz/navigation.rviz
+++ /dev/null
@@ -1,133 +0,0 @@
-Panels:
- - Class: rviz_common/Displays
- Name: Displays
- - Class: rviz_common/Views
- Name: Views
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.8
- Class: rviz_default_plugins/RobotModel
- Enabled: true
- Name: RobotModel
- Robot Description: robot_description
- Visual Enabled: true
- - Class: rviz_default_plugins/TF
- Enabled: true
- Name: TF
- Frame Timeout: 15
- Marker Scale: 0.3
- - Class: rviz_default_plugins/Map
- Enabled: true
- Name: Map
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /map
- Update Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /map_updates
- Color Scheme: map
- Draw Behind: true
- Use Timestamp: false
- - Class: rviz_default_plugins/LaserScan
- Enabled: true
- Name: LaserScan
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Best Effort
- Value: /scan
- Size (m): 0.02
- Style: Flat Squares
- Decay Time: 0.3
- Color Transformer: Intensity
- - Class: rviz_default_plugins/Path
- Enabled: true
- Name: Global Plan
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /plan
- Color: 25; 255; 0
- Line Style: Dashed
- - Class: rviz_default_plugins/Path
- Enabled: true
- Name: Local Plan
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /local_plan
- Color: 255; 153; 0
- - Class: rviz_default_plugins/Path
- Enabled: true
- Name: Smoothed Plan
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /smoothed_plan
- Color: 255; 255; 0
- - Class: rviz_default_plugins/Costmap
- Enabled: true
- Name: Local Costmap
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /local_costmap/costmap
- Color Scheme: costmap
- Draw Behind: false
- - Class: rviz_default_plugins/Costmap
- Enabled: false
- Name: Global Costmap
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /global_costmap/costmap
- Color Scheme: costmap
- Draw Behind: false
- - Alpha: 0.99
- Class: rviz_default_plugins/ParticleCloud
- Enabled: true
- Name: AMCL Particle Swarm
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /particle_cloud
- Color: 255; 0; 0
- Style: Flat Squares
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: map
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz_default_plugins/Interact
- - Class: rviz_default_plugins/MoveCamera
- - Class: rviz_default_plugins/Select
- - Class: rviz_default_plugins/SetInitialPose
- Topic:
- Value: /initialpose
- - Class: rviz_default_plugins/SetGoal
- Topic:
- Value: /goal_pose
- Views:
- Current:
- Class: rviz_default_plugins/Orbit
- Distance: 5.0
- Focal Point:
- X: 0.0
- Y: 0.0
- Z: 0.5
- Name: Current View
- Pitch: 0.8
- Yaw: 2.8
diff --git a/src/gc_bringup/rviz/slam_mapping.rviz b/src/gc_bringup/rviz/slam_mapping.rviz
deleted file mode 100644
index 7fa1a95..0000000
--- a/src/gc_bringup/rviz/slam_mapping.rviz
+++ /dev/null
@@ -1,84 +0,0 @@
-Panels:
- - Class: rviz_common/Displays
- Name: Displays
- - Class: rviz_common/Views
- Name: Views
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.8
- Class: rviz_default_plugins/RobotModel
- Enabled: true
- Name: RobotModel
- Robot Description: robot_description
- Visual Enabled: true
- - Class: rviz_default_plugins/TF
- Enabled: true
- Name: TF
- Frame Timeout: 15
- Marker Scale: 0.3
- - Class: rviz_default_plugins/Map
- Enabled: true
- Name: Map
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /map
- Update Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /map_updates
- Color Scheme: map
- Draw Behind: true
- Use Timestamp: false
- - Class: rviz_default_plugins/LaserScan
- Enabled: true
- Name: LaserScan
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Best Effort
- Value: /scan
- Size (m): 0.02
- Style: Flat Squares
- Decay Time: 0.3
- Color Transformer: Intensity
- - Class: rviz_default_plugins/Path
- Enabled: true
- Name: Path (SLAM)
- Topic:
- Depth: 1
- History Policy: Keep Last
- Reliability Policy: Reliable
- Value: /plan
- Color: 25; 255; 0
- Line Style: Dashed
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: map
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz_default_plugins/Interact
- - Class: rviz_default_plugins/MoveCamera
- - Class: rviz_default_plugins/Select
- - Class: rviz_default_plugins/SetInitialPose
- Topic:
- Value: /initialpose
- - Class: rviz_default_plugins/SetGoal
- Topic:
- Value: /goal_pose
- Views:
- Current:
- Class: rviz_default_plugins/Orbit
- Distance: 5.0
- Focal Point:
- X: 0.0
- Y: 0.0
- Z: 0.5
- Name: Current View
- Pitch: 0.8
- Yaw: 2.8
diff --git a/src/gc_bringup/scripts/nav_goal.py b/src/gc_bringup/scripts/nav_goal.py
deleted file mode 100644
index a0243d4..0000000
--- a/src/gc_bringup/scripts/nav_goal.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python3
-"""
-命令行发送导航目标点到 Nav2
-
-用法:
- ros2 run gc_bringup nav_goal 1.0 2.0 0.5 # 去 (1.0, 2.0), yaw=0.5
- ros2 run gc_bringup nav_goal 1.0 2.0 # 去 (1.0, 2.0), yaw=0.0
- ros2 run gc_bringup nav_goal -2.0 0.0 3.14 # 去 (-2.0, 0.0), 面朝后
-
- # 或使用 topic pub
- ros2 topic pub /goal_pose geometry_msgs/PoseStamped "{header: {frame_id: 'map'}, pose: {position: {x: 1.0, y: 0.0}, orientation: {z: 0.0, w: 1.0}}}"
-"""
-
-import sys
-import rclpy
-from rclpy.node import Node
-from geometry_msgs.msg import PoseStamped
-import math
-
-
-class GoalSender(Node):
- def __init__(self):
- super().__init__('goal_sender')
- self.publisher = self.create_publisher(PoseStamped, '/goal_pose', 10)
-
- def send_goal(self, x: float, y: float, yaw: float = 0.0):
- msg = PoseStamped()
- msg.header.frame_id = 'map'
- msg.header.stamp = self.get_clock().now().to_msg()
- msg.pose.position.x = x
- msg.pose.position.y = y
- msg.pose.position.z = 0.0
- msg.pose.orientation.z = math.sin(yaw / 2.0)
- msg.pose.orientation.w = math.cos(yaw / 2.0)
- self.publisher.publish(msg)
- self.get_logger().info(f'发送导航目标: x={x:.2f}, y={y:.2f}, yaw={yaw:.2f}')
-
-
-def main():
- rclpy.init()
- sender = GoalSender()
-
- args = sys.argv[1:]
- if len(args) < 2:
- print("用法: ros2 run gc_bringup nav_goal [yaw]")
- print("示例: ros2 run gc_bringup nav_goal 1.0 2.0 0.5")
- sys.exit(1)
-
- x = float(args[0])
- y = float(args[1])
- yaw = float(args[2]) if len(args) > 2 else 0.0
-
- sender.send_goal(x, y, yaw)
- rclpy.shutdown()
-
-
-if __name__ == '__main__':
- main()
diff --git a/src/gc_navigation/package.xml b/src/gc_navigation/package.xml
deleted file mode 100644
index e333e66..0000000
--- a/src/gc_navigation/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- gc_navigation
- 0.0.0
- TODO: Package description
- guoch
- TODO: License declaration
-
- ament_copyright
- ament_flake8
- ament_pep257
- python3-pytest
-
-
- ament_python
-
-
diff --git a/src/gc_navigation/resource/gc_navigation b/src/gc_navigation/resource/gc_navigation
deleted file mode 100644
index e69de29..0000000
diff --git a/src/gc_navigation/setup.cfg b/src/gc_navigation/setup.cfg
deleted file mode 100644
index 7e23bd3..0000000
--- a/src/gc_navigation/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/gc_navigation
-[install]
-install_scripts=$base/lib/gc_navigation
diff --git a/src/gc_navigation/setup.py b/src/gc_navigation/setup.py
deleted file mode 100644
index c8d94db..0000000
--- a/src/gc_navigation/setup.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'gc_navigation'
-
-setup(
- name=package_name,
- version='0.0.0',
- packages=find_packages(exclude=['test']),
- data_files=[
- ('share/ament_index/resource_index/packages',
- ['resource/' + package_name]),
- ('share/' + package_name, ['package.xml']),
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- maintainer='guoch',
- maintainer_email='guoch@todo.todo',
- description='TODO: Package description',
- license='TODO: License declaration',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- ],
- },
-)
diff --git a/src/gc_navigation/test/test_copyright.py b/src/gc_navigation/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/src/gc_navigation/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found errors'
diff --git a/src/gc_navigation/test/test_flake8.py b/src/gc_navigation/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/src/gc_navigation/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
- rc, errors = main_with_errors(argv=[])
- assert rc == 0, \
- 'Found %d code style errors / warnings:\n' % len(errors) + \
- '\n'.join(errors)
diff --git a/src/gc_navigation/test/test_pep257.py b/src/gc_navigation/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/src/gc_navigation/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found code style errors / warnings'
diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml
index 8d2fad5..b6356ef 100644
--- a/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml
+++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml
@@ -15,8 +15,8 @@ slam_toolbox:
mode: localization #localization
# if you'd like to start localizing on bringup in a map and pose
- # map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
- # map_start_pose: [0.0, 0.0, 0.0]
+ map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
+ map_start_pose: [0.0, 0.0, 0.0]
debug_logging: false
throttle_scans: 1
diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slamtoolbox.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py
similarity index 98%
rename from src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slamtoolbox.launch.py
rename to src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py
index cb94c4d..edf5436 100644
--- a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slamtoolbox.launch.py
+++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
map_yaml_path = LaunchConfiguration('map', default=os.path.join(
gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
- gc_navigation_fish_dir, 'params', 'gc_navigation.yaml'))
+ gc_navigation_fish_dir, 'params', 'gc_navigation_amcl.yaml'))
# =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
nav2_bringup_launch = IncludeLaunchDescription(
@@ -38,6 +38,7 @@ def generate_launch_description():
'params_file': nav2_param_path}.items(),
)
+
# =============================4.Gazebo仿真设置==========================================================
robot_name_in_model = 'mycar'
default_model_path = os.path.join(
diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
new file mode 100644
index 0000000..8e6a64a
--- /dev/null
+++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
@@ -0,0 +1,113 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+ ld = LaunchDescription()
+
+ # =============================1.定位到包的地址=============================================================
+ pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox')
+ nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+ origincar_urdf_dir = get_package_share_directory('origincar_description')
+
+ # =============================2.声明参数===============================================================
+ use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+ map_yaml_path = LaunchConfiguration('map', default=os.path.join(
+ pkg_dir, 'maps', 'my_map.yaml'))
+ nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
+ pkg_dir, 'params', 'gc_navigation.yaml'))
+ slam_params_file = os.path.join(
+ pkg_dir, 'config', 'mapper_params_localization.yaml')
+
+ # =============================3.slam_toolbox 定位模式（替代 AMCL）=========================================
+ slam_toolbox_node = Node(
+ package='slam_toolbox',
+ executable='localization_slam_toolbox_node',
+ name='slam_toolbox',
+ output='screen',
+ parameters=[slam_params_file,
+ {'use_sim_time': True}],
+ # 关键：确保 slam_toolbox 作为定位器发布 map->odom 变换
+ )
+
+ # =============================4.仅启动 nav2 navigation（不含 localization）=================================
+ # 因为 slam_toolbox 已经替代了 AMCL，不需要再跑 localization_launch
+ navigation_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(
+ [nav2_bringup_dir, '/launch', '/navigation_launch.py']),
+ launch_arguments={
+ 'use_sim_time': use_sim_time,
+ 'params_file': nav2_param_path}.items(),
+ )
+
+ # =============================5.map_server 单独启动（提供静态地图给 costmap）===============================
+ map_server_node = Node(
+ package='nav2_map_server',
+ executable='map_server',
+ name='map_server',
+ output='screen',
+ parameters=[nav2_param_path,
+ {'yaml_filename': map_yaml_path,
+ 'use_sim_time': True}],
+ )
+
+ # map_server 生命周期自动管理
+ map_server_lifecycle_node = Node(
+ package='nav2_lifecycle_manager',
+ executable='lifecycle_manager',
+ name='lifecycle_manager_map',
+ output='screen',
+ parameters=[{'use_sim_time': True,
+ 'autostart': True,
+ 'node_names': ['map_server']}],
+ )
+
+ # =============================6.Gazebo仿真设置==========================================================
+ robot_name_in_model = 'mycar'
+ default_model_path = os.path.join(
+ origincar_urdf_dir, "urdf", "origincar.urdf")
+ model = DeclareLaunchArgument(
+ name="model", default_value=default_model_path)
+
+ gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world')
+ start_gazebo_cmd = ExecuteProcess(
+ cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+ '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+ output='screen')
+
+ spawn_entity_cmd = Node(
+ package='gazebo_ros',
+ executable='spawn_entity.py',
+ arguments=['-entity', robot_name_in_model,
+ '-file', default_model_path],
+ output='screen'
+ )
+
+ robot_description = ParameterValue(
+ Command(["xacro ", LaunchConfiguration("model")]), value_type=str)
+
+ robot_state_publisher = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ parameters=[{"robot_description": robot_description,
+ 'use_sim_time': True, 'publish_frequency': 30.0}]
+ )
+
+ ld.add_action(model)
+ ld.add_action(start_gazebo_cmd)
+ ld.add_action(spawn_entity_cmd)
+ ld.add_action(robot_state_publisher)
+ ld.add_action(map_server_node)
+ ld.add_action(map_server_lifecycle_node)
+ ld.add_action(slam_toolbox_node)
+ ld.add_action(navigation_launch)
+
+ return ld
diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml
similarity index 100%
rename from src/gc_navigation2_slamtoolbox/params/gc_navigation.yaml
rename to src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml
diff --git a/src/gc_navigation/gc_navigation/__init__.py b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
similarity index 100%
rename from src/gc_navigation/gc_navigation/__init__.py
rename to src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
diff --git a/src/gc_navigation_fish/CMakeLists.txt b/src/gc_navigation_fish/CMakeLists.txt
deleted file mode 100644
index 21e4ee1..0000000
--- a/src/gc_navigation_fish/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(gc_navigation_fish)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package( REQUIRED)
-install(
- DIRECTORY launch param maps
- DESTINATION share/${PROJECT_NAME}
-)
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- # the following line skips the linter which checks for copyrights
- # comment the line when a copyright and license is added to all source files
- set(ament_cmake_copyright_FOUND TRUE)
- # the following line skips cpplint (only works in a git repo)
- # comment the line when this package is in a git repo and when
- # a copyright and license is added to all source files
- set(ament_cmake_cpplint_FOUND TRUE)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/gc_navigation_fish/launch/gc_navigation.launch.py b/src/gc_navigation_fish/launch/gc_navigation.launch.py
deleted file mode 100644
index 8a4ff45..0000000
--- a/src/gc_navigation_fish/launch/gc_navigation.launch.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
- # =============================1.定位到包的地址=============================================================
- gc_navigation_fish_dir = get_package_share_directory(
- 'gc_navigation_fish')
- nav2_bringup_dir = get_package_share_directory('nav2_bringup')
-
- # =============================2.声明参数，获取配置文件路径===================================================
- # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- map_yaml_path = LaunchConfiguration('map', default=os.path.join(
- gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
- nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
- gc_navigation_fish_dir, 'param', 'gc_navigation.yaml'))
- # =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
- nav2_bringup_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
- launch_arguments={
- 'map': map_yaml_path,
- 'use_sim_time': use_sim_time,
- 'params_file': nav2_param_path}.items(),
- )
-
-
- return LaunchDescription([nav2_bringup_launch])
diff --git a/src/gc_navigation_fish/maps/my_map.data b/src/gc_navigation_fish/maps/my_map.data
deleted file mode 100644
index 68c09b6..0000000
Binary files a/src/gc_navigation_fish/maps/my_map.data and /dev/null differ
diff --git a/src/gc_navigation_fish/maps/my_map.pgm b/src/gc_navigation_fish/maps/my_map.pgm
deleted file mode 100644
index 809a0ed..0000000
Binary files a/src/gc_navigation_fish/maps/my_map.pgm and /dev/null differ
diff --git a/src/gc_navigation_fish/maps/my_map.posegraph b/src/gc_navigation_fish/maps/my_map.posegraph
deleted file mode 100644
index 34c432a..0000000
Binary files a/src/gc_navigation_fish/maps/my_map.posegraph and /dev/null differ
diff --git a/src/gc_navigation_fish/maps/my_map.yaml b/src/gc_navigation_fish/maps/my_map.yaml
deleted file mode 100644
index 938b0ed..0000000
--- a/src/gc_navigation_fish/maps/my_map.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: map_1770592084.pgm
-mode: trinary
-resolution: 0.05
-origin: [-2.15, -5.81, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25
\ No newline at end of file
diff --git a/src/gc_navigation_fish/maps/test_map.pgm b/src/gc_navigation_fish/maps/test_map.pgm
deleted file mode 100644
index 079a090..0000000
Binary files a/src/gc_navigation_fish/maps/test_map.pgm and /dev/null differ
diff --git a/src/gc_navigation_fish/maps/test_map.yaml b/src/gc_navigation_fish/maps/test_map.yaml
deleted file mode 100644
index 2d524cd..0000000
--- a/src/gc_navigation_fish/maps/test_map.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: test_map.pgm
-mode: trinary
-resolution: 0.05
-origin: [-2.03, -6.12, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25
\ No newline at end of file
diff --git a/src/gc_navigation_fish/package.xml b/src/gc_navigation_fish/package.xml
deleted file mode 100644
index f54f961..0000000
--- a/src/gc_navigation_fish/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- gc_navigation_fish
- 0.0.0
- TODO: Package description
- guoch
- TODO: License declaration
-
- ament_cmake
-
- ament_lint_auto
- ament_lint_common
- nav2_bringup
-
- ament_cmake
-
-
diff --git a/src/gc_navigation_fish/param/gc_navigation.yaml b/src/gc_navigation_fish/param/gc_navigation.yaml
deleted file mode 100644
index e24e71e..0000000
--- a/src/gc_navigation_fish/param/gc_navigation.yaml
+++ /dev/null
@@ -1,408 +0,0 @@
-amcl:
- ros__parameters:
- use_sim_time: True
- alpha1: 0.2
- alpha2: 0.2
- alpha3: 0.2
- alpha4: 0.2
- alpha5: 0.2
- base_frame_id: "base_link"
- beam_skip_distance: 0.5
- beam_skip_error_threshold: 0.9
- beam_skip_threshold: 0.3
- do_beamskip: false
- global_frame_id: "map" # 全局坐标系
- lambda_short: 0.1
- laser_likelihood_max_dist: 2.0
- laser_max_range: 100.0
- laser_min_range: -1.0
- laser_model_type: "likelihood_field"
- max_beams: 60
- max_particles: 2000
- min_particles: 500
- odom_frame_id: "odom"
- pf_err: 0.05
- pf_z: 0.99
- recovery_alpha_fast: 0.0
- recovery_alpha_slow: 0.0
- resample_interval: 1
- robot_model_type: "nav2_amcl::DifferentialMotionModel"
- save_pose_rate: 0.5
- sigma_hit: 0.2
- tf_broadcast: true
- transform_tolerance: 10.0
- update_min_a: 0.2
- update_min_d: 0.25
- z_hit: 0.5
- z_max: 0.05
- z_rand: 0.5
- z_short: 0.05
- scan_topic: scan
-
-amcl_map_client:
- ros__parameters:
- use_sim_time: True
-
-amcl_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-bt_navigator:
- ros__parameters:
- use_sim_time: True
- global_frame: map
- robot_base_frame: base_link
- odom_topic: /odom
- bt_loop_duration: 10
- default_server_timeout: 20
- # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
- # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
- # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
- # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
- plugin_lib_names:
- - nav2_compute_path_to_pose_action_bt_node
- - nav2_compute_path_through_poses_action_bt_node
- - nav2_smooth_path_action_bt_node
- - nav2_follow_path_action_bt_node
- - nav2_spin_action_bt_node
- - nav2_wait_action_bt_node
- - nav2_back_up_action_bt_node
- - nav2_drive_on_heading_bt_node
- - nav2_clear_costmap_service_bt_node
- - nav2_is_stuck_condition_bt_node
- - nav2_goal_reached_condition_bt_node
- - nav2_goal_updated_condition_bt_node
- - nav2_globally_updated_goal_condition_bt_node
- - nav2_is_path_valid_condition_bt_node
- - nav2_initial_pose_received_condition_bt_node
- - nav2_reinitialize_global_localization_service_bt_node
- - nav2_rate_controller_bt_node
- - nav2_distance_controller_bt_node
- - nav2_speed_controller_bt_node
- - nav2_truncate_path_action_bt_node
- - nav2_truncate_path_local_action_bt_node
- - nav2_goal_updater_node_bt_node
- - nav2_recovery_node_bt_node
- - nav2_pipeline_sequence_bt_node
- - nav2_round_robin_node_bt_node
- - nav2_transform_available_condition_bt_node
- - nav2_time_expired_condition_bt_node
- - nav2_path_expiring_timer_condition
- - nav2_distance_traveled_condition_bt_node
- - nav2_single_trigger_bt_node
- - nav2_is_battery_low_condition_bt_node
- - nav2_navigate_through_poses_action_bt_node
- - nav2_navigate_to_pose_action_bt_node
- - nav2_remove_passed_goals_action_bt_node
- - nav2_planner_selector_bt_node
- - nav2_controller_selector_bt_node
- - nav2_goal_checker_selector_bt_node
- - nav2_controller_cancel_bt_node
- - nav2_path_longer_on_approach_bt_node
- - nav2_wait_cancel_bt_node
- - nav2_spin_cancel_bt_node
- - nav2_back_up_cancel_bt_node
- - nav2_drive_on_heading_cancel_bt_node
-
-bt_navigator_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-controller_server:
- ros__parameters:
- controller_frequency: 30.0
- FollowPath:
- plugin: "nav2_mppi_controller::MPPIController"
- time_steps: 56
- model_dt: 0.05
- batch_size: 2000
- vx_std: 0.2
- vy_std: 0.0
- wz_std: 0.4
- vx_max: 0.5
- vx_min: -0.35
- vy_max: 0.0
- wz_max: 1.9
- iteration_count: 1
- temperature: 0.3
- gamma: 0.015
- motion_model: "Ackermann"
- visualize: false
- TrajectoryVisualizer:
- trajectory_step: 5
- time_step: 3
- AckermannConstraints:
- min_turning_r: 0.4
- critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
- ConstraintCritic:
- enabled: true
- cost_power: 1
- cost_weight: 4.0
- GoalCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- threshold_to_consider: 1.4
- GoalAngleCritic:
- enabled: true
- cost_power: 1
- cost_weight: 3.0
- threshold_to_consider: 0.5
- PreferForwardCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- threshold_to_consider: 0.5
- # Option to replace Cost and use Obstacles instead
- # ObstaclesCritic:
- # enabled: true
- # cost_power: 1
- # repulsion_weight: 1.5
- # critical_weight: 20.0
- # consider_footprint: false
- # collision_cost: 10000.0
- # collision_margin_distance: 0.1
- # near_goal_distance: 0.5
- CostCritic:
- enabled: true
- cost_power: 1
- cost_weight: 3.81
- critical_cost: 300.0
- consider_footprint: true
- collision_cost: 1000000.0
- near_goal_distance: 1.0
- trajectory_point_step: 2
- PathAlignCritic:
- enabled: true
- cost_power: 1
- cost_weight: 14.0
- max_path_occupancy_ratio: 0.05
- trajectory_point_step: 4
- threshold_to_consider: 0.5
- offset_from_furthest: 20
- use_path_orientations: false
- PathFollowCritic:
- enabled: true
- cost_power: 1
- cost_weight: 5.0
- offset_from_furthest: 5
- threshold_to_consider: 1.4
- PathAngleCritic:
- enabled: true
- cost_power: 1
- cost_weight: 2.0
- offset_from_furthest: 4
- threshold_to_consider: 0.5
- max_angle_to_furthest: 1.0
- forward_preference: true
- # VelocityDeadbandCritic:
- # enabled: true
- # cost_power: 1
- # cost_weight: 35.0
- # deadband_velocities: [0.05, 0.05, 0.05]
- # TwirlingCritic:
- # enabled: true
- # twirling_cost_power: 1
- # twirling_cost_weight: 10.0
-
-controller_server_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-local_costmap:
- local_costmap:
- ros__parameters:
- update_frequency: 5.0
- publish_frequency: 2.0
- global_frame: odom
- robot_base_frame: base_link
- use_sim_time: True
- rolling_window: true
- width: 3
- height: 3
- resolution: 0.05
- footprint: "[[0.14, 0.085],
- [0.14, -0.085],
- [-0.14, -0.085],
- [-0.14, 0.085]]"
- footprint_padding: 0.02
- plugins: ["voxel_layer", "inflation_layer"]
- inflation_layer:
- plugin: "nav2_costmap_2d::InflationLayer"
- cost_scaling_factor: 3.0
- inflation_radius: 0.55
- voxel_layer:
- plugin: "nav2_costmap_2d::VoxelLayer"
- enabled: True
- publish_voxel_map: True
- origin_z: 0.0
- z_resolution: 0.05
- z_voxels: 16
- max_obstacle_height: 2.0
- mark_threshold: 0
- observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
- data_type: "LaserScan"
- raytrace_max_range: 3.0
- raytrace_min_range: 0.0
- obstacle_max_range: 2.5
- obstacle_min_range: 0.0
- static_layer:
- map_subscribe_transient_local: True
- always_send_full_costmap: True
- local_costmap_client:
- ros__parameters:
- use_sim_time: True
- local_costmap_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-global_costmap:
- global_costmap:
- ros__parameters:
- update_frequency: 1.0
- publish_frequency: 1.0
- global_frame: map
- robot_base_frame: base_link
- use_sim_time: True
- footprint: "[[0.14, 0.085],
- [0.14, -0.085],
- [-0.14, -0.085],
- [-0.14, 0.085]]"
- footprint_padding: 0.02
- resolution: 0.05
- track_unknown_space: true
- plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
- obstacle_layer:
- plugin: "nav2_costmap_2d::ObstacleLayer"
- enabled: True
- observation_sources: scan
- scan:
- topic: /scan
- max_obstacle_height: 2.0
- clearing: True
- marking: True
- data_type: "LaserScan"
- raytrace_max_range: 3.0
- raytrace_min_range: 0.0
- obstacle_max_range: 2.5
- obstacle_min_range: 0.0
- static_layer:
- plugin: "nav2_costmap_2d::StaticLayer"
- map_subscribe_transient_local: True
- inflation_layer:
- plugin: "nav2_costmap_2d::InflationLayer"
- cost_scaling_factor: 3.0
- inflation_radius: 0.55
- always_send_full_costmap: True
- global_costmap_client:
- ros__parameters:
- use_sim_time: True
- global_costmap_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-map_server:
- ros__parameters:
- use_sim_time: True
- yaml_filename: "turtlebot3_world.yaml"
-
-map_saver:
- ros__parameters:
- use_sim_time: True
- save_map_timeout: 5.0
- free_thresh_default: 0.25
- occupied_thresh_default: 0.65
- map_subscribe_transient_local: True
-
-planner_server:
- ros__parameters:
- planner_plugins: ["GridBased"]
- use_sim_time: True
-
- GridBased:
- plugin: "nav2_smac_planner/SmacPlannerHybrid"
- downsample_costmap: false # whether or not to downsample the map
- downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
- tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
- allow_unknown: true # allow traveling in unknown space
- max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
- max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
- max_planning_time: 5.0 # max time in s for planner to plan, smooth
- motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车
- angle_quantization_bins: 72 # Number of angle bins for search
- analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
- analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
- minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle
- reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1
- change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
- non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
- cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
- retrospective_penalty: 0.015
- lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
- cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
- viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
- smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
-
- smoother:
- max_iterations: 1000
- w_smooth: 0.3
- w_data: 0.2
- tolerance: 1.0e-10
- do_refinement: true
- refinement_num: 2
-
-planner_server_rclcpp_node:
- ros__parameters:
- use_sim_time: True
-
-smoother_server:
- ros__parameters:
- use_sim_time: True
- smoother_plugins: ["simple_smoother"]
- simple_smoother:
- plugin: "nav2_smoother::SimpleSmoother"
- tolerance: 1.0e-10
- max_its: 1000
- do_refinement: True
-
-behavior_server:
- ros__parameters:
- costmap_topic: local_costmap/costmap_raw
- footprint_topic: local_costmap/published_footprint
- cycle_frequency: 10.0
- behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
- spin:
- plugin: "nav2_behaviors/Spin"
- backup:
- plugin: "nav2_behaviors/BackUp"
- drive_on_heading:
- plugin: "nav2_behaviors/DriveOnHeading"
- wait:
- plugin: "nav2_behaviors/Wait"
- global_frame: odom
- robot_base_frame: base_link
- transform_tolerance: 0.1
- use_sim_time: True
- simulate_ahead_time: 2.0
- max_rotational_vel: 1.0
- min_rotational_vel: 0.4
- rotational_acc_lim: 3.2
-
-robot_state_publisher:
- ros__parameters:
- use_sim_time: True
-
-waypoint_follower:
- ros__parameters:
- loop_rate: 20
- stop_on_failure: false
- waypoint_task_executor_plugin: "wait_at_waypoint"
- wait_at_waypoint:
- plugin: "nav2_waypoint_follower::WaitAtWaypoint"
- enabled: True
- waypoint_pause_duration: 200
diff --git a/src/gc_slam_toolbox_fish/CMakeLists.txt b/src/gc_slam_toolbox_fish/CMakeLists.txt
deleted file mode 100644
index 262d40e..0000000
--- a/src/gc_slam_toolbox_fish/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(gc_slam_toolbox_fish)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package( REQUIRED)
-install(
- DIRECTORY config launch rviz
- DESTINATION share/${PROJECT_NAME}
-)
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- # the following line skips the linter which checks for copyrights
- # comment the line when a copyright and license is added to all source files
- set(ament_cmake_copyright_FOUND TRUE)
- # the following line skips cpplint (only works in a git repo)
- # comment the line when this package is in a git repo and when
- # a copyright and license is added to all source files
- set(ament_cmake_cpplint_FOUND TRUE)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/gc_slam_toolbox_fish/config/gc_2d.lua b/src/gc_slam_toolbox_fish/config/gc_2d.lua
deleted file mode 100644
index 329a2ee..0000000
--- a/src/gc_slam_toolbox_fish/config/gc_2d.lua
+++ /dev/null
@@ -1,63 +0,0 @@
-include "map_builder.lua"
-include "trajectory_builder.lua"
-
-options = {
- map_builder = MAP_BUILDER,
- trajectory_builder = TRAJECTORY_BUILDER,
- map_frame = "map",
- tracking_frame = "base_link",
- -- base_link改为odom,发布map到odom之间的位姿态
- published_frame = "odom",
- odom_frame = "odom",
- -- true改为false，不用提供里程计数据
- provide_odom_frame = false,
- -- false改为true，仅发布2D位资
- publish_frame_projected_to_2d = true,
- -- false改为true，使用里程计数据
- use_odometry = true,
- use_nav_sat = false,
- use_landmarks = false,
- -- 0改为1,使用一个雷达
- num_laser_scans = 1,
- -- 1改为0，不使用多波雷达
- num_multi_echo_laser_scans = 0,
- -- 10改为1，1/1=1等于不分割
- num_subdivisions_per_laser_scan = 1,
- num_point_clouds = 0,
- lookup_transform_timeout_sec = 0.2,
- submap_publish_period_sec = 0.3,
- pose_publish_period_sec = 5e-3,
- trajectory_publish_period_sec = 30e-3,
- rangefinder_sampling_ratio = 1.,
- odometry_sampling_ratio = 1.,
- fixed_frame_pose_sampling_ratio = 1.,
- imu_sampling_ratio = 1.,
- landmarks_sampling_ratio = 1.,
-}
-
-
--- false改为true，启动2D SLAM
-MAP_BUILDER.use_trajectory_builder_2d = true
-
--- 0改成0.10,比机器人半径小的都忽略
-TRAJECTORY_BUILDER_2D.min_range = 0.10
--- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
-TRAJECTORY_BUILDER_2D.max_range = 3.5
--- 5改成3,传感器数据超出有效范围最大值
-TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
--- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
-TRAJECTORY_BUILDER_2D.use_imu_data = false
--- false改成true,使用实时回环检测来进行前端的扫描匹配
-TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
--- 1.0改成0.1,提高对运动的敏感度
-TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
-
--- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
-POSE_GRAPH.constraint_builder.min_score = 0.65
---0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
-POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
-
--- 设置0可关闭全局SLAM
--- POSE_GRAPH.optimize_every_n_nodes = 0
-
-return options
diff --git a/src/gc_slam_toolbox_fish/launch/catograph.launch.py b/src/gc_slam_toolbox_fish/launch/catograph.launch.py
deleted file mode 100644
index ff51eec..0000000
--- a/src/gc_slam_toolbox_fish/launch/catograph.launch.py
+++ /dev/null
@@ -1,63 +0,0 @@
-
-import os
-from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
- # 定位到功能包的地址
- pkg_share = FindPackageShare(
- package='gc_slam_toolbox_fish').find('gc_slam_toolbox_fish')
-
- # =====================运行节点需要的配置=======================================================================
- # 是否使用仿真时间，我们用gazebo，这里设置成true
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- # 地图的分辨率
- resolution = LaunchConfiguration('resolution', default='0.05')
- # 地图的发布周期
- publish_period_sec = LaunchConfiguration(
- 'publish_period_sec', default='1.0')
- # 配置文件夹路径
- configuration_directory = LaunchConfiguration(
- 'configuration_directory', default=os.path.join(pkg_share, 'config'))
- # 配置文件
- configuration_basename = LaunchConfiguration(
- 'configuration_basename', default='gc_2d.lua')
- rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
- print(f"rviz config in {rviz_config_dir}")
-
- # =====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
- cartographer_node = Node(
- package='cartographer_ros',
- executable='cartographer_node',
- name='cartographer_node',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}],
- arguments=['-configuration_directory', configuration_directory,
- '-configuration_basename', configuration_basename])
-
- cartographer_occupancy_grid_node = Node(
- package='cartographer_ros',
- executable='cartographer_occupancy_grid_node',
- name='cartographer_occupancy_grid_node',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}],
- arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
-
- rviz_node = Node(
- package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config_dir],
- parameters=[{'use_sim_time': use_sim_time}],
- output='screen')
-
- # ===============================================定义启动文件========================================================
- ld = LaunchDescription()
- ld.add_action(cartographer_node)
- ld.add_action(cartographer_occupancy_grid_node)
- # ld.add_action(rviz_node)
-
- return ld
diff --git a/src/gc_slam_toolbox_fish/package.xml b/src/gc_slam_toolbox_fish/package.xml
deleted file mode 100644
index 81a27f4..0000000
--- a/src/gc_slam_toolbox_fish/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- gc_slam_toolbox_fish
- 0.0.0
- TODO: Package description
- guoch
- TODO: License declaration
-
- ament_cmake
-
- ament_lint_auto
- ament_lint_common
-
-
- ament_cmake
-
-
diff --git a/src/gc_slamtoolbox/config/nav2_costmap_2d.lua b/src/gc_slamtoolbox/config/nav2_costmap_2d.lua
deleted file mode 100644
index 329a2ee..0000000
--- a/src/gc_slamtoolbox/config/nav2_costmap_2d.lua
+++ /dev/null
@@ -1,63 +0,0 @@
-include "map_builder.lua"
-include "trajectory_builder.lua"
-
-options = {
- map_builder = MAP_BUILDER,
- trajectory_builder = TRAJECTORY_BUILDER,
- map_frame = "map",
- tracking_frame = "base_link",
- -- base_link改为odom,发布map到odom之间的位姿态
- published_frame = "odom",
- odom_frame = "odom",
- -- true改为false，不用提供里程计数据
- provide_odom_frame = false,
- -- false改为true，仅发布2D位资
- publish_frame_projected_to_2d = true,
- -- false改为true，使用里程计数据
- use_odometry = true,
- use_nav_sat = false,
- use_landmarks = false,
- -- 0改为1,使用一个雷达
- num_laser_scans = 1,
- -- 1改为0，不使用多波雷达
- num_multi_echo_laser_scans = 0,
- -- 10改为1，1/1=1等于不分割
- num_subdivisions_per_laser_scan = 1,
- num_point_clouds = 0,
- lookup_transform_timeout_sec = 0.2,
- submap_publish_period_sec = 0.3,
- pose_publish_period_sec = 5e-3,
- trajectory_publish_period_sec = 30e-3,
- rangefinder_sampling_ratio = 1.,
- odometry_sampling_ratio = 1.,
- fixed_frame_pose_sampling_ratio = 1.,
- imu_sampling_ratio = 1.,
- landmarks_sampling_ratio = 1.,
-}
-
-
--- false改为true，启动2D SLAM
-MAP_BUILDER.use_trajectory_builder_2d = true
-
--- 0改成0.10,比机器人半径小的都忽略
-TRAJECTORY_BUILDER_2D.min_range = 0.10
--- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些
-TRAJECTORY_BUILDER_2D.max_range = 3.5
--- 5改成3,传感器数据超出有效范围最大值
-TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
--- true改成false,不使用IMU数据，大家可以开启，然后对比下效果
-TRAJECTORY_BUILDER_2D.use_imu_data = false
--- false改成true,使用实时回环检测来进行前端的扫描匹配
-TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
--- 1.0改成0.1,提高对运动的敏感度
-TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
-
--- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。
-POSE_GRAPH.constraint_builder.min_score = 0.65
---0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确
-POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
-
--- 设置0可关闭全局SLAM
--- POSE_GRAPH.optimize_every_n_nodes = 0
-
-return options
diff --git a/src/gc_slamtoolbox/gc_slamtoolbox/__init__.py b/src/gc_slamtoolbox/gc_slamtoolbox/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/gc_slamtoolbox/launch/cartographer.launch.py b/src/gc_slamtoolbox/launch/cartographer.launch.py
deleted file mode 100644
index 03fe36f..0000000
--- a/src/gc_slamtoolbox/launch/cartographer.launch.py
+++ /dev/null
@@ -1,63 +0,0 @@
-
-import os
-from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
- # 定位到功能包的地址
- pkg_share = FindPackageShare(
- package='gc_slamtoolbox').find('gc_slamtoolbox')
-
- # =====================运行节点需要的配置=======================================================================
- # 是否使用仿真时间，我们用gazebo，这里设置成true
- use_sim_time = LaunchConfiguration('use_sim_time', default='true')
- # 地图的分辨率
- resolution = LaunchConfiguration('resolution', default='0.05')
- # 地图的发布周期
- publish_period_sec = LaunchConfiguration(
- 'publish_period_sec', default='1.0')
- # 配置文件夹路径
- configuration_directory = LaunchConfiguration(
- 'configuration_directory', default=os.path.join(pkg_share, 'config'))
- # 配置文件
- configuration_basename = LaunchConfiguration(
- 'configuration_basename', default='nav2_costmap_2d.lua')
- rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz"
- print(f"rviz config in {rviz_config_dir}")
-
- # =====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
- cartographer_node = Node(
- package='cartographer_ros',
- executable='cartographer_node',
- name='cartographer_node',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}],
- arguments=['-configuration_directory', configuration_directory,
- '-configuration_basename', configuration_basename])
-
- cartographer_occupancy_grid_node = Node(
- package='cartographer_ros',
- executable='cartographer_occupancy_grid_node',
- name='cartographer_occupancy_grid_node',
- output='screen',
- parameters=[{'use_sim_time': use_sim_time}],
- arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
-
- rviz_node = Node(
- package='rviz2',
- executable='rviz2',
- name='rviz2',
- arguments=['-d', rviz_config_dir],
- parameters=[{'use_sim_time': use_sim_time}],
- output='screen')
-
- # ===============================================定义启动文件========================================================
- ld = LaunchDescription()
- ld.add_action(cartographer_node)
- ld.add_action(cartographer_occupancy_grid_node)
- ld.add_action(rviz_node)
-
- return ld
diff --git a/src/gc_slamtoolbox/package.xml b/src/gc_slamtoolbox/package.xml
deleted file mode 100644
index 5577293..0000000
--- a/src/gc_slamtoolbox/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- gc_slamtoolbox
- 0.0.0
- TODO: Package description
- guoch
- TODO: License declaration
-
- ament_copyright
- ament_flake8
- ament_pep257
- python3-pytest
-
-
- ament_python
-
-
diff --git a/src/gc_slamtoolbox/resource/gc_slamtoolbox b/src/gc_slamtoolbox/resource/gc_slamtoolbox
deleted file mode 100644
index e69de29..0000000
diff --git a/src/gc_slamtoolbox/setup.cfg b/src/gc_slamtoolbox/setup.cfg
deleted file mode 100644
index 48726b1..0000000
--- a/src/gc_slamtoolbox/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/gc_slamtoolbox
-[install]
-install_scripts=$base/lib/gc_slamtoolbox
diff --git a/src/gc_slamtoolbox/setup.py b/src/gc_slamtoolbox/setup.py
deleted file mode 100644
index f6f9055..0000000
--- a/src/gc_slamtoolbox/setup.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'gc_slamtoolbox'
-
-setup(
- name=package_name,
- version='0.0.0',
- packages=find_packages(exclude=['test']),
- data_files=[
- ('share/ament_index/resource_index/packages',
- ['resource/' + package_name]),
- ('share/' + package_name, ['package.xml']),
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- maintainer='guoch',
- maintainer_email='guoch@todo.todo',
- description='TODO: Package description',
- license='TODO: License declaration',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- ],
- },
-)
diff --git a/src/gc_slamtoolbox/test/test_copyright.py b/src/gc_slamtoolbox/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/src/gc_slamtoolbox/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found errors'
diff --git a/src/gc_slamtoolbox/test/test_flake8.py b/src/gc_slamtoolbox/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/src/gc_slamtoolbox/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
- rc, errors = main_with_errors(argv=[])
- assert rc == 0, \
- 'Found %d code style errors / warnings:\n' % len(errors) + \
- '\n'.join(errors)
diff --git a/src/gc_slamtoolbox/test/test_pep257.py b/src/gc_slamtoolbox/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/src/gc_slamtoolbox/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
- rc = main(argv=['.', 'test'])
- assert rc == 0, 'Found code style errors / warnings'