机器人操作系统（ROS2）入门与实践 课件 第8章 ROS2中的NAV2自主导航.ppt

*8.2使用NAV2进行自主导航启动终端Terminator:2、编写导航Launch文件cd~/ros2_ws/srcros2pkgcreatenav_pkg在软件包中创建一个Launch文件，命名为“launch”。在[launch]文件夹新建文件，命名为“nav.launch.py”。8.2使用NAV2进行自主导航importosfromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNodefromament_index_python.packagesimportget_package_share_directoryfromlaunch.actionsimportIncludeLaunchDescriptionfromlaunch.launch_description_sourcesimportPythonLaunchDescriptionSource?defgenerate_launch_description():map_file=os.path.join(get_package_share_directory(wpr_simulation2),maps,map.yaml)nav_param_file=os.path.join(get_package_share_directory(wpr_simulation2),config,nav2_params.yaml)nav2_launch_dir=os.path.join(get_package_share_directory(nav2_bringup),launch)8.2使用NAV2进行自主导航navigation_cmd=IncludeLaunchDescription(PythonLaunchDescriptionSource([nav2_launch_dir,/bringup_launch.py]),launch_arguments={map:map_file,use_sim_time:True,params_file:nav_param_file}.items(),)rviz_file=os.path.join(get_package_share_directory(wpr_simulation2),rviz,navi.rviz)rviz_cmd=Node(package=rviz2,executable=rviz2,name=rviz2,arguments=[-d,rviz_file])ld=LaunchDescription()ld.add_action(navigation_cmd)ld.add_action(rviz_cmd)returnld8.2使用NAV2进行自主导航在nav_pkg的CMakeLists.txt文件里，添加如下安装规则：3、设置安装规则install(DIRECTORYlaunchDESTINATIONshare/${PROJECT_NAME})4、编译软件包cd~/ros2_wscolconbuild8.2使用NAV2进行自主导航8.2.3仿真环境运行自主导航sourceinstall/setup.bashros2launchwpr_simulation2robocup_home.launch.py8.2使用NAV2进行自主导航打开第二个命令行窗口:sourceinstall/setup.bashros2launchnav_pkgnav.launch.py8.2使用NAV2进行自主导航设置机器人初始位置需要使用RViz2的工具栏里的[2DPosEstimate]按钮。8.2使用NAV2进行自主导航设置好机器人的初始位置后，使用Rviz2界面上方工具条里的[N