ROS2与Nav2应用opennav仿真教程-里程导航

说明

• 介绍如何通过纯里程进行导航

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rviz

ros2 launch  honeybee_nav2  rviz_local_navigation.launch.py

• 启动里程导航

ros2 launch honeybee_nav2  nav2_local.launch.py  localization_type:=local use_sim_time:=true

• 启动导航脚本

ros2 launch  honeybee_demos  local_navigation_script.launch.py  localization_type:=local use_sim_time:=true

• rviz效果图

• 激活导航

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

• rviz效果图