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可使用的slam定位（无法超出基本图范围）

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This commit is contained in:
陌欢醉
2026-06-04 15:39:31 +08:00
parent 4b21197f36
commit f566ac2ab7
2 changed files with 6 additions and 3 deletions
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7
src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
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@@ -26,6 +26,9 @@ def generate_launch_description():
pkg_dir, 'params', 'gc_navigation_slam.yaml')) pkg_dir, 'params', 'gc_navigation_slam.yaml'))
slam_params_file = os.path.join( slam_params_file = os.path.join(
pkg_dir, 'config', 'mapper_params_localization.yaml') pkg_dir, 'config', 'mapper_params_localization.yaml')
# slam_toolbox 定位所需的序列化地图
posegraph_path = os.path.join(
pkg_dir, 'maps', 'my_map.posegraph')
# =============================3.slam_toolbox 定位模式（替代 AMCL）========================================= # =============================3.slam_toolbox 定位模式（替代 AMCL）=========================================
slam_toolbox_node = Node( slam_toolbox_node = Node(
@@ -34,8 +37,8 @@ def generate_launch_description():
name='slam_toolbox', name='slam_toolbox',
output='screen', output='screen',
parameters=[slam_params_file, parameters=[slam_params_file,
{'use_sim_time': True}], {'use_sim_time': True,
# 关键：确保 slam_toolbox 作为定位器发布 map->odom 变换 'map_file_name': posegraph_path}],
) )
# =============================4.仅启动 nav2 navigation（不含 localization）================================= # =============================4.仅启动 nav2 navigation（不含 localization）=================================

2
src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
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@@ -6,7 +6,7 @@ bt_navigator:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: True
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_footprint
odom_topic: /odom odom_topic: /odom
bt_loop_duration: 20 bt_loop_duration: 20
default_server_timeout: 20 default_server_timeout: 20