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rm_nav_bringup's Introduction

rm_nav_bringup

用于 rmul24_gazebo_simulator 的导航仿真启动包。

Cloned

git clone https://github.com/LihanChen2004/rm_nav_bringup.git ros_ws/src
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Launch

请在仿真完全启动后，再启动导航节点，否则将导致初始位姿出错。

多机器人仿真导航：

ros2 launch rm_nav_bringup sentry_nav_launch.py \
  robots:=" \
  red_standard_robot1={x: 0.0, y: 0.0, yaw: 0.0}; \
  blue_standard_robot1={x: 5.6, y: 1.4, yaw: 3.14}; \
  "

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