ROS2与Ailibot2入门教程-导航-单点导航

ROS2与Ailibot2入门教程-导航-单点导航

说明：

• 介绍如何实现单点导航

相关设备：

• ailibot2差速系列：采购Ailibot2-D2,采购Ailibot2-D4
• ailibot2全向系列：采购Ailibot2-M4，采购Ailibot2-O3，采购Ailibot2-O4

步骤：

• 小车端，启动底盘

ros2 launch ailibot2_bringup agent.launch.py

• 小车端，启动雷达

ros2 launch ailibot2_bringup laser.launch.py

• PC端，启动发布odom

ros2 launch ailibot2_bringup robot.launch.py

• PC端，启动导航

ros2 launch ailibot2_nav navigate_with_localization.launch.py map:=$HOME/map.yaml

• 在rviz上初始化小车，再指定目标点
• 小车自主导航到目标点
• 效果如图:

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=920488239&bvid=BV1Wu4y177up&cid=1320123989&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>