1.環境搭建

在工作空間src下git wpr_simulation，安裝install_for_noetic.sh，然后再回退工作空間進行編譯

下載參數文件

git clone https://github.com/6-robot/wpb_home.git

下載需要魔法，在這里可以使用手機熱點進行平替

進入腳本文件夾

cd wpb_home/wpb_home_bringup/scripts/

執行依賴項安裝程序

./install_for_noetic.sh

2.代碼編寫

新建包

catkin_create_pkg nav_pkg roscpp rospy move_base_msgs actionlib

編寫launch文件

<launch><node pkg="move_base" type="move_base" name="move_base"><rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /><param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /></node><node pkg="map_server" type="map_server" name="map_server" args="$(find wpr_simulation)/maps/map.yaml"/><node pkg="amcl" type="amcl" name="amcl"/></launch>

tree一下文件結構

nav_pkg
├── CMakeLists.txt
├── include
│?? └── nav_pkg
├── launch
│?? └── nav.launch
├── package.xml
└── src

啟動仿真環境

 roslaunch wpr_simulation wpb_stage_robocup.launch 

新建終端執行導航命令

roslaunch nav_pkg nav.launch 

再新建終端,打開可視化界面

rviz

add path map robotmodel ,再使用上面欄的2D Nav Goal給出目標地點

3.Amcl可視化

增加Posearray，并訂閱、、、相關話題

?