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实现了slam负责定位，map_server实现全局地图发布，从而实现全局地图定位和导航

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但是无法实现在线更新地图
This commit is contained in:
陌欢醉
2026-06-04 15:56:14 +08:00
parent f566ac2ab7
commit 82a1d44c5f
1 changed files with 17 additions and 17 deletions
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34
src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
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@@ -31,6 +31,7 @@ def generate_launch_description():
pkg_dir, 'maps', 'my_map.posegraph') 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）=========================================
# 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( slam_toolbox_node = Node(
package='slam_toolbox', package='slam_toolbox',
executable='localization_slam_toolbox_node', executable='localization_slam_toolbox_node',
@@ -39,31 +40,20 @@ def generate_launch_description():
parameters=[slam_params_file, parameters=[slam_params_file,
{'use_sim_time': True, {'use_sim_time': True,
'map_file_name': posegraph_path}], 'map_file_name': posegraph_path}],
remappings=[('/map', '/slam_map')],
) )
# =============================4.仅启动 nav2 navigation（不含 localization）================================= # =============================4.map_server 提供全量静态地图给 global_costmap =============================
# 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( map_server_node = Node(
package='nav2_map_server', package='nav2_map_server',
executable='map_server', executable='map_server',
name='map_server', name='map_server',
output='screen', output='screen',
parameters=[nav2_param_path, parameters=[{'yaml_filename': map_yaml_path,
{'yaml_filename': map_yaml_path,
'use_sim_time': True}], 'use_sim_time': True}],
) )
# map_server 生命周期自动管理 map_server_lifecycle = Node(
map_server_lifecycle_node = Node(
package='nav2_lifecycle_manager', package='nav2_lifecycle_manager',
executable='lifecycle_manager', executable='lifecycle_manager',
name='lifecycle_manager_map', name='lifecycle_manager_map',
@@ -73,7 +63,17 @@ def generate_launch_description():
'node_names': ['map_server']}], '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' robot_name_in_model = 'mycar'
default_model_path = os.path.join( default_model_path = os.path.join(
origincar_urdf_dir, "urdf", "origincar.urdf") origincar_urdf_dir, "urdf", "origincar.urdf")
@@ -109,7 +109,7 @@ def generate_launch_description():
ld.add_action(spawn_entity_cmd) ld.add_action(spawn_entity_cmd)
ld.add_action(robot_state_publisher) ld.add_action(robot_state_publisher)
ld.add_action(map_server_node) 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(slam_toolbox_node)
ld.add_action(navigation_launch) ld.add_action(navigation_launch)