1.环境搭建

在工作空间src下git wpr_simulation，安装install_for_noetic.sh，然后再回退工作空间进行编译

下载参数文件

git clone https://github.com/6-robot/wpb_home.git

下载需要魔法，在这里可以使用手机热点进行平替

进入脚本文件夹

cd wpb_home/wpb_home_bringup/scripts/

执行依赖项安装程序

./install_for_noetic.sh

2.代码编写

新建包

catkin_create_pkg nav_pkg roscpp rospy move_base_msgs actionlib

编写launch文件

<launch><node pkg="move_base" type="move_base" name="move_base"><rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" /><rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" /><param name="base_global_planner" value="global_planner/GlobalPlanner" /> <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" /></node><node pkg="map_server" type="map_server" name="map_server" args="$(find wpr_simulation)/maps/map.yaml"/><node pkg="amcl" type="amcl" name="amcl"/></launch>

tree一下文件结构

nav_pkg
├── CMakeLists.txt
├── include
│   └── nav_pkg
├── launch
│   └── nav.launch
├── package.xml
└── src

启动仿真环境

 roslaunch wpr_simulation wpb_stage_robocup.launch 

新建终端执行导航命令

roslaunch nav_pkg nav.launch 

再新建终端,打开可视化界面

rviz

add path map robotmodel ,再使用上面栏的2D Nav Goal给出目标地点

3.Amcl可视化

增加Posearray，并订阅、、、相关话题