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feat: modify nav param

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This commit is contained in:
鱼香ROS
2024-07-22 12:01:20 +08:00
parent ac7769cc35
commit 8024ea5538
4 changed files with 8 additions and 7 deletions
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2
chapt7/chapt7_ws/README.md
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@@ -61,7 +61,7 @@ colcon build
``` ```
source install/setup.bash source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py ros2 launch fishbot_description gazebo_sim.launch.py
``` ```
运行导航 运行导航

6
chapt7/chapt7_ws/src/fishbot_description/config/fishbot_ros2_controller.yaml
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@@ -29,7 +29,7 @@ fishbot_diff_drive_controller:
left_wheel_names: ["left_wheel_joint"] left_wheel_names: ["left_wheel_joint"]
right_wheel_names: ["right_wheel_joint"] right_wheel_names: ["right_wheel_joint"]
wheel_separation: 0.17 wheel_separation: 0.20
#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal #wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
wheel_radius: 0.032 wheel_radius: 0.032
@@ -40,8 +40,8 @@ fishbot_diff_drive_controller:
publish_rate: 50.0 publish_rate: 50.0
odom_frame_id: odom odom_frame_id: odom
base_frame_id: base_footprint base_frame_id: base_footprint
pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01] pose_covariance_diagonal : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01] twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
open_loop: true open_loop: true
enable_odom_tf: true enable_odom_tf: true

6
chapt7/chapt7_ws/src/fishbot_description/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro
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@@ -6,14 +6,14 @@
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so"> <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
<ros> <ros>
<namespace>/</namespace> <namespace>/</namespace>
<remapping>~/out:=scan</remapping> <remapping>~/out:=scan1</remapping>
</ros> </ros>
<output_type>sensor_msgs/LaserScan</output_type> <output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_link</frame_name> <frame_name>laser_link</frame_name>
</plugin> </plugin>
<always_on>true</always_on> <always_on>true</always_on>
<visualize>true</visualize> <visualize>false</visualize>
<update_rate>5</update_rate> <update_rate>10</update_rate>
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
<!-- 激光传感器配置 --> <!-- 激光传感器配置 -->
<ray> <ray>

1
chapt7/chapt7_ws/src/navigation2 Submodule

Submodule chapt7/chapt7_ws/src/navigation2 added at 150dd6beb5