ROS2与Nav2应用opennav仿真教程-激光3D脚本多点导航

说明

• 介绍如何实现再激光3D点云图再进行多点导航

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_3d_navigation.launch.py

• 启动定位和导航

ros2 launch  honeybee_nav2 nav2_urban.launch.py localization_type:=3D slam:=False use_sim_time:=true 

• rviz效果图

• 启动脚本

ros2 launch  honeybee_demos urban_navigation_script2.launch.py  slam:=False use_sim_time:=true 

• 激活导航

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

• 关闭导航

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

• 激活导航后，根据脚本规划的路线行走
• rivz效果图