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mohuanzui
2026-06-02 12:55:59 +08:00
parent 9fd2426ac5
commit e7c814c968
7 changed files with 23 additions and 8 deletions
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7
src/gc_bringup/launch/navigation.launch.py
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@@ -81,6 +81,7 @@ def generate_launch_description():
output='screen',
parameters=[nav2_params,
{'use_sim_time': True, 'yaml_filename': map_yaml}],
ros_arguments=['-p', 'use_sim_time:=True'],
)
# ==================== AMCL ====================
@@ -91,6 +92,7 @@ def generate_launch_description():
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 ====================
@@ -101,6 +103,7 @@ def generate_launch_description():
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 ====================
@@ -111,6 +114,7 @@ def generate_launch_description():
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 ====================
@@ -121,6 +125,7 @@ def generate_launch_description():
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 ====================
@@ -131,6 +136,7 @@ def generate_launch_description():
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 ====================
@@ -141,6 +147,7 @@ def generate_launch_description():
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) ====================