From 82a1d44c5f0eb0faa6a09463c23d5f0bbe18ce5a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=99=8C=E6=AC=A2=E9=86=89?= <264854363@qq.com>
Date: Thu, 4 Jun 2026 15:56:14 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E4=BA=86slam=E8=B4=9F?=
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---
 .../launch/gc_nav2_with_slam.launch.py        | 34 +++++++++----------
 1 file changed, 17 insertions(+), 17 deletions(-)

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
index 964ca70..7e20adc 100644
--- a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
+++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
@@ -31,6 +31,7 @@ def generate_launch_description():
         pkg_dir, 'maps', 'my_map.posegraph')
 
     # =============================3.slam_toolbox 定位模式（替代 AMCL）=========================================
+    # 注意：slam_toolbox 的 /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图
     slam_toolbox_node = Node(
         package='slam_toolbox',
         executable='localization_slam_toolbox_node',
@@ -39,31 +40,20 @@ def generate_launch_description():
         parameters=[slam_params_file,
                     {'use_sim_time': True,
                      'map_file_name': posegraph_path}],
+        remappings=[('/map', '/slam_map')],
     )
 
-    # =============================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）===============================
+    # =============================4.map_server 提供全量静态地图给 global_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,
+        parameters=[{'yaml_filename': map_yaml_path,
                      'use_sim_time': True}],
     )
 
-    # map_server 生命周期自动管理
-    map_server_lifecycle_node = Node(
+    map_server_lifecycle = Node(
         package='nav2_lifecycle_manager',
         executable='lifecycle_manager',
         name='lifecycle_manager_map',
@@ -73,7 +63,17 @@ def generate_launch_description():
                      'node_names': ['map_server']}],
     )
 
-    # =============================6.Gazebo仿真设置==========================================================
+    # =============================5.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.Gazebo仿真设置==========================================================
     robot_name_in_model = 'mycar'
     default_model_path = os.path.join(
         origincar_urdf_dir, "urdf", "origincar.urdf")
@@ -109,7 +109,7 @@ def generate_launch_description():
     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(map_server_lifecycle)
     ld.add_action(slam_toolbox_node)
     ld.add_action(navigation_launch)