forked from zbw/yiliao2026
new file: .gitignore
new file: .vscode/settings.json deleted: zbw_slamtoolbox/CMakeLists.txt deleted: zbw_slamtoolbox/config/mapper_params_online_async.yaml deleted: zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml deleted: zbw_slamtoolbox/config/navigation.yaml deleted: zbw_slamtoolbox/launch/navigation.launch.py deleted: zbw_slamtoolbox/launch/slamtoolbox.launch.py deleted: zbw_slamtoolbox/package.xml
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.gitignore
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log
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build
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install
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.vscode/settings.json
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.vscode/settings.json
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{
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"cmake.ignoreCMakeListsMissing": true
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}
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cmake_minimum_required(VERSION 3.8)
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project(zbw_slamtoolbox)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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slam_toolbox:
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ros__parameters:
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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transform_timeout: 5.0
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tf_buffer_duration: 30.0
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minimum_range: 0.2 # 雷达硬件最小测距
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queue_size: 50
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slam_toolbox:
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ros__parameters:
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_link
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scan_topic: /scan
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use_map_saver: true
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mode: mapping #localization
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# if you'd like to immediately start continuing a map at a given pose
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# or at the dock, but they are mutually exclusive, if pose is given
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# will use pose
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#map_file_name: test_steve
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#map_start_pose: [0.0, 0.0, 0.0]
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#map_start_at_dock: true
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debug_logging: false
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throttle_scans: 2
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 5.0
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resolution: 0.05
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min_laser_range: 0.0 #for rastering images
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max_laser_range: 20.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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enable_interactive_mode: true
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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loop_search_maximum_distance: 3.0
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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min_pass_through: 2
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occupancy_threshold: 0.1
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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# 获取包路径
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cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
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nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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# 声明参数
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use_sim_time = LaunchConfiguration('use_sim_time', default='False')
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slam = LaunchConfiguration('slam', default='False')
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localization = LaunchConfiguration('localization', default='False')
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# 定义文件路径
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map_yaml_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map.yaml')
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nav2_param_path = os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml')
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slam_params_file = os.path.join(cyy_navigation2_dir, 'param', 'slam_toolbox_localization.yaml')
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# 定义地图基础路径（用于 .posegraph 文件）
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map_base_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map')
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# 检查 .posegraph 文件是否存在
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posegraph_path = map_base_path + '.posegraph'
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if not os.path.exists(posegraph_path):
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print(f"警告: .posegraph 文件不存在: {posegraph_path}")
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print("将使用 AMCL 替代")
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use_slam_toolbox = False
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else:
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use_slam_toolbox = True
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print(f"找到 .posegraph 文件: {posegraph_path}")
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# 创建启动描述
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ld = LaunchDescription([
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DeclareLaunchArgument('use_sim_time', default_value='False'),
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DeclareLaunchArgument('slam', default_value='False'),
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DeclareLaunchArgument('localization', default_value='False'),
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])
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# 如果使用 slam_toolbox
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if use_slam_toolbox:
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slam_toolbox_node = Node(
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package='slam_toolbox',
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executable='localization_slam_toolbox_node',
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name='slam_toolbox',
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output='screen',
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parameters=[
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slam_params_file,
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{'use_sim_time': use_sim_time},
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{'map_file_name': map_base_path},
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{'map_start_pose': [0.0, 0.0, 0.0]}
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],
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remappings=[('/scan', '/scan')]
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)
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ld.add_action(slam_toolbox_node)
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# 使用 slam_toolbox 时，Nav2 不启用定位
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localization_arg = 'False'
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else:
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# 使用 AMCL
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localization_arg = 'True'
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# Nav2 启动 - 使用正确的路径
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nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
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if not os.path.exists(nav2_launch_path):
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print(f"错误: 找不到 Nav2 启动文件: {nav2_launch_path}")
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return ld
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nav2_bringup_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(nav2_launch_path),
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launch_arguments={
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'map': map_yaml_path,
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'use_sim_time': use_sim_time,
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'params_file': nav2_param_path,
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'slam': slam,
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'localization': localization_arg,
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'autostart': 'True',
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}.items(),
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)
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ld.add_action(nav2_bringup_launch)
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return ld
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#!/usr/bin/env python3
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from launch import LaunchDescription
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from launch_ros.actions import Node, SetParameter
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# 获取参数文件路径
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pkg_share = get_package_share_directory('zbw_slamtoolbox')
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params_file = os.path.join(pkg_share, 'config', 'mapper_params_online_async.yaml')
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set_use_sim_time = SetParameter(name='use_sim_time', value=False)
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# 创建SLAM Toolbox节点
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slam_toolbox_node = Node(
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package='slam_toolbox',
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executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node
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name='slam_toolbox',
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output='screen',
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parameters=[params_file]
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)
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return LaunchDescription([
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set_use_sim_time,
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slam_toolbox_node
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])
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>zbw_slamtoolbox</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="sunrise@todo.todo">sunrise</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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Reference in New Issue
Block a user