ROS2与Nav2应用opennav仿真教程-GPS脚本多点导航

说明

• 介绍如何通过python实现GPS多点电脑

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_gps_navigation.launch.py

• 启动导航

ros2 launch  honeybee_nav2 nav2_gps.launch.py localization_type:=GPS use_sim_time:=true

• 启动多点导航脚本

ros2 launch  honeybee_demos gps_patrol_demo_script.launch.py 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