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迁移了原来的nav2包；新增基于obstacle_scanner构建costmap的nav2，暂未实际测试

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2026-07-22 17:35:01 +08:00
parent c7260bd021
commit 9b06d149d5
129 changed files with 2085 additions and 0 deletions
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11
src/navigation/gc_navigation2_slamtoolbox/world/zhihui/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>zhihui</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

471
src/navigation/gc_navigation2_slamtoolbox/world/zhihui/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.7'>
<model name='zhihui'>
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<visual name='Wall_12_Visual'>
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<name>Gazebo/Grey</name>
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<meta>
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<meta>
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<meta>
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<pose>-0.305988 0.758719 0 0 -0 0</pose>
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<link name='Wall_31'>
<collision name='Wall_31_Collision'>
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</link>
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<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
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<meta>
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</visual>
<pose>1.65085 1.41824 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_36'>
<collision name='Wall_36_Collision'>
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<visual name='Wall_36_Visual'>
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<geometry>
<box>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
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<meta>
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</visual>
<pose>2.3125 1.40828 0 0 -0 1.5708</pose>
</link>
<link name='Wall_38'>
<collision name='Wall_38_Collision'>
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<visual name='Wall_38_Visual'>
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<name>Gazebo/Grey</name>
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<meta>
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<pose>-0.19189 2.74413 0 0 -0 3.14159</pose>
</link>
<link name='Wall_4'>
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<geometry>
<box>
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<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
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<ambient>1 1 1 1</ambient>
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<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
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<ambient>1 1 1 1</ambient>
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<meta>
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<name>Gazebo/Grey</name>
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<name>Gazebo/Grey</name>
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