SCURM火锅战队 23赛季哨兵导航

文件说明g

打完比赛在写文档吧

比赛应该干什么

• 建图录制bag

ros2 bag record /livox/lidar /livox/imu

• 启动fastlio

source install/setup.bash
ros2 launch sentry_nav2_bringup fastlio_mapping.launch.py

• 启动octomap

source install/setup.bash
ros2 launch octomap_generate octomap_server.launch.py

• rqtserver保存fastlio的图
• 保存octomap的图

ros2 launch octomap_generate octomap_saver.launch.py

• 压制地图

ros2 launch pcl_cloud run.launch.py

• 保存二维pgm地图

• 启动navigation2

source install/setup.bash
ros2 launch sentry_nav2_bringup navigation2.launch.py