手动加载pgm地图

输出tf树

ros2 run tf2_tools view_frames

1，加载地图yaml

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=/home/cennum/cyberdog_sim/src/cyberdog_control/cyberdog_nav2/maps/map1.yaml

2：触发生命周期

ros2 lifecycle set /map_server configure
ros2 lifecycle set /map_server activate

3.启动导航

ros2 launch nav2_bringup navigation_launch.py \
  map:=/home/cennum/cyberdog_sim/src/cyberdog_control/cyberdog_nav2/maps/map1.yaml \
  use_sim_time:=true

4。重新加载地图

ros2 service call /map_server/load_map nav2_msgs/srv/LoadMap "{map_url: '/home/cennum/cyberdog_sim/src/cyberdog_control/cyberdog_nav2/maps/map1.yaml'}"