From e7c814c9684e0b11f8b84513da1486fc7b410ea7 Mon Sep 17 00:00:00 2001
From: mohuanzui <264854363@qq.com>
Date: Tue, 2 Jun 2026 12:55:59 +0800
Subject: [PATCH] a

---
 .gitignore                                    |   8 ++++++++
 .../__pycache__/sitecustomize.cpython-310.pyc | Bin 305 -> 305 bytes
 .../__pycache__/sitecustomize.cpython-310.pyc | Bin 307 -> 307 bytes
 .../navigation.launch.cpython-310.pyc         | Bin 3701 -> 3697 bytes
 .../gc_bringup/launch/navigation.launch.py    |  14 +++++++-------
 log/latest_build                              |   2 +-
 src/gc_bringup/launch/navigation.launch.py    |   7 +++++++
 7 files changed, 23 insertions(+), 8 deletions(-)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ca74fd5
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,8 @@
+# Build artifacts
+build/
+
+# Install artifacts
+install/
+
+# Log artifacts
+log/
diff --git a/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
index e44e61f8607e159feff735eaa6b1a986e113d591..626e62aae390b0b4525ce7d7dbf414e0d340f6fd 100644
GIT binary patch
delta 19
ZcmdnUw2_G`pO=@50SMF*Hgc&m0stqA18o2R

delta 19
ZcmdnUw2_G`pO=@50SNfxH*%>n0stob162S3

diff --git a/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
index a23e48d3db6044f83c220c65d4bb82c0d9ba1b8c..d057993546b0a80eb4720926c7bb3e95aa0367a2 100644
GIT binary patch
delta 19
ZcmdnYw3&%3pO=@50SMF*Hgah)0str119JcX

delta 19
ZcmdnYw3&%3pO=@50SNfxH*#q*0stpS16u$9

diff --git a/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc b/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc
index 8f499e848d2c45f72a4df6538852cf33a8574be0..384469fc8626a4044162de69979c2375c3e95a67 100644
GIT binary patch
delta 553
zcmew=^HGL3pO=@50SH7B<g(;9^1frLPccX_OlL|l>Se1HF5ylwPB8&Oi5j64<`lI|
zMxcyoiW!iEs50+muN48RvPiK6LVT)3fvT)htbq`pDzTD!?i8C8TOh=zOdM#KU5Y&r
z;!`C7ROOK32!!}lNdi?lr8uX!q)4QwrKlyP=%ttd{pUJ|Ih`@Zt(Ub{3aY>zq9C0i
z#bXg8lDu>YQx@|AmKuf>&lInP%(XHl+$CH!EX|B5-eBlcBLg%K5_*h4GkhmUv-q<6
z)$jw&_n*9;MUgRJ@<kSLUjJUEg^Y|0HFCiWnt_|YvNSSHZecg(zr|aWUmTxUlwO*f
znpaXhc@KLmquypIj&Md%b6~_3nSuyQ5Md1>Y&W-Yu4I%lfJ=cDA<0kn<PKnr+dPZ=
eG$Tg>P?e@|k;mj*-qWHWPEi~x5kJ|NPXho@N|7=E

delta 558
zcmew;^Hqj7pO=@50SLaw$z`Q(<bB6fpU#kCu!u3mu$Qe?xP&{!D8(2EC2E9Hm{Zg;
z8Pl0kOj1nKnV_o7df975fU3+>EPxQ7Dp8;+%M>dh#HUKEq@Fv)I>iPE@hKAr8fKef
z2ZZ=kNdQ&Zr#Jv1K2?%HRgNi6Db6VpDQYQdNhx|M#z0@X%wbMvOmXdHt(Af*aDylS
z`rI8DJ_vc~5~eKX1uQiTDIO`F3z=(WO1Mk7YFL^XQ@p^?yG90R9whV_foAwjj%M*?
z_pRXvn(sGxJ&Piv|Ky7-;=F#nObZzq8EWK$88ibne`RT8;?rcV;?mVE$}iSUEJ`n)
zT*hw9TBHn&t;svsV;Pk<i*bZAikboWMJ6D^0z_DW2%F7KoGTfn^x;xqMM(0KUAY4o
jV>eIZKF!Dx4^*WoT;x7EllQbJh*K1cO2kd}<kJ8EWoM9x

diff --git a/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py b/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
index fe42974..5de2d09 100644
--- a/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
+++ b/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
@@ -81,7 +81,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params,
                     {'use_sim_time': True, 'yaml_filename': map_yaml}],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== AMCL ====================
@@ -92,7 +92,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Planner Server ====================
@@ -103,7 +103,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Controller Server ====================
@@ -114,7 +114,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Behavior Server ====================
@@ -125,7 +125,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== BT Navigator ====================
@@ -136,7 +136,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Waypoint Follower ====================
@@ -147,7 +147,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Lifecycle Manager (map + amcl) ====================
diff --git a/log/latest_build b/log/latest_build
index cd6170d..52d04bd 120000
--- a/log/latest_build
+++ b/log/latest_build
@@ -1 +1 @@
-build_2026-06-02_12-41-50
\ No newline at end of file
+build_2026-06-02_12-46-29
\ No newline at end of file
diff --git a/src/gc_bringup/launch/navigation.launch.py b/src/gc_bringup/launch/navigation.launch.py
index 066159e..5de2d09 100644
--- a/src/gc_bringup/launch/navigation.launch.py
+++ b/src/gc_bringup/launch/navigation.launch.py
@@ -81,6 +81,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params,
                     {'use_sim_time': True, 'yaml_filename': map_yaml}],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== AMCL ====================
@@ -91,6 +92,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Planner Server ====================
@@ -101,6 +103,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Controller Server ====================
@@ -111,6 +114,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Behavior Server ====================
@@ -121,6 +125,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== BT Navigator ====================
@@ -131,6 +136,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Waypoint Follower ====================
@@ -141,6 +147,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Lifecycle Manager (map + amcl) ====================