ROS2与Nav2应用opennav仿真教程-激光2D脚本多点导航

说明

• 介绍如何通过python脚本编程实现多点导航

步骤

• 启动仿真

ros2 launch honeybee_bringup robot.launch.py  use_simulation:=true use_sim_time:=true

• gazebo效果图

• 启动建图和导航

ros2 launch honeybee_nav2  nav2.launch.py localization_type:=2D slam:=True use_sim_time:=true

• 启动rviz

ros2 launch honeybee_nav2  rviz_2d_navigation.launch.py

• rviz效果图

• 启动多点导航脚本

ros2 launch honeybee_demos  indoor_long_duration_picking_demo_script.launch.py

• rviz效果图

• 发布激活导航

ros2 topic  pub   /open_close std_msgs/msg/String  "{data: 'b'}"

• 效果

$ ros2 launch honeybee_demos  indoor_long_duration_picking_demo_script.launch.py 
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-09-10-16-17-44-000899-WALKING-ARM-V400-22150
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [indoor_long_duration_picking_demo2-1]: process started with pid [22151]
[indoor_long_duration_picking_demo2-1] [INFO] [1725956283.364401124] [indoor_picking_demo]: Start request detected, starting urban navigation demo!
[indoor_long_duration_picking_demo2-1] [INFO] [1725956283.373635232] [basic_navigator]: Publishing Initial Pose
[indoor_long_duration_picking_demo2-1] [INFO] [1725956285.406078753] [basic_navigator]: Navigating to goal: -3.47 4.88...
[indoor_long_duration_picking_demo2-1] [INFO] [1725956343.770187961] [basic_navigator]: Navigating to goal: 5.04 4.51...
[indoor_long_duration_picking_demo2-1] [INFO] [1725956386.833022365] [basic_navigator]: Navigating to goal: -4.11 4.23...

• 发布中止导航

ros2 topic  pub   /open_close std_msgs/msg/String  "{data: 'a'}"