add&fix：修改了文件名称以及添加了slam定位的卵巢文件

src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
     map_yaml_path = LaunchConfiguration('map', default=os.path.join(
         gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
     nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
-        gc_navigation_fish_dir, 'params', 'gc_navigation.yaml'))
+        gc_navigation_fish_dir, 'params', 'gc_navigation_amcl.yaml'))
 
     # =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
     nav2_bringup_launch = IncludeLaunchDescription(
@@ -38,6 +38,7 @@ def generate_launch_description():
             'params_file': nav2_param_path}.items(),
     )
 
+
     # =============================4.Gazebo仿真设置==========================================================
     robot_name_in_model = 'mycar'
     default_model_path = os.path.join(

src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py

@@ -0,0 +1,113 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    # =============================1.定位到包的地址=============================================================
+    pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    origincar_urdf_dir = get_package_share_directory('origincar_description')
+
+    # =============================2.声明参数===============================================================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    map_yaml_path = LaunchConfiguration('map', default=os.path.join(
+        pkg_dir, 'maps', 'my_map.yaml'))
+    nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
+        pkg_dir, 'params', 'gc_navigation.yaml'))
+    slam_params_file = os.path.join(
+        pkg_dir, 'config', 'mapper_params_localization.yaml')
+
+    # =============================3.slam_toolbox 定位模式（替代 AMCL）=========================================
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='localization_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        parameters=[slam_params_file,
+                    {'use_sim_time': True}],
+        # 关键：确保 slam_toolbox 作为定位器发布 map->odom 变换
+    )
+
+    # =============================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）===============================
+    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,
+                     'use_sim_time': True}],
+    )
+
+    # map_server 生命周期自动管理
+    map_server_lifecycle_node = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_map',
+        output='screen',
+        parameters=[{'use_sim_time': True,
+                     'autostart': True,
+                     'node_names': ['map_server']}],
+    )
+
+    # =============================6.Gazebo仿真设置==========================================================
+    robot_name_in_model = 'mycar'
+    default_model_path = os.path.join(
+        origincar_urdf_dir, "urdf", "origincar.urdf")
+    model = DeclareLaunchArgument(
+        name="model", default_value=default_model_path)
+
+    gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world')
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+        output='screen')
+
+    spawn_entity_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=['-entity', robot_name_in_model,
+                   '-file', default_model_path],
+        output='screen'
+    )
+
+    robot_description = ParameterValue(
+        Command(["xacro ", LaunchConfiguration("model")]), value_type=str)
+
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[{"robot_description": robot_description,
+                     'use_sim_time': True, 'publish_frequency': 30.0}]
+    )
+
+    ld.add_action(model)
+    ld.add_action(start_gazebo_cmd)
+    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(slam_toolbox_node)
+    ld.add_action(navigation_launch)
+
+    return ld