1.创建py功能包

2.在该功能包下创建launch文件夹

创建一个start_nav2.launch.py文件

写入以下内容，

import os
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():
    # 获取与拼接默认路径
    cyberdog_nav2_dir = get_package_share_directory(
        'cyberdog_nav2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    rviz_config_dir = os.path.join(
        nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
    
    # 创建 Launch 配置
    use_sim_time = launch.substitutions.LaunchConfiguration(
        'use_sim_time', default='true')
    map_yaml_path = launch.substitutions.LaunchConfiguration(
        'map', default=os.path.join(cyberdog_nav2_dir, 'maps', 'map1.yaml'))
    nav2_param_path = launch.substitutions.LaunchConfiguration(
        'params_file', default=os.path.join(cyberdog_nav2_dir, 'config', 'nav2_params.yaml'))

    return launch.LaunchDescription([
        # 声明新的 Launch 参数
        launch.actions.DeclareLaunchArgument('use_sim_time', default_value=use_sim_time,
                                             description='Use simulation (Gazebo) clock if true'),
        launch.actions.DeclareLaunchArgument('map', default_value=map_yaml_path,
                                             description='Full path to map file to load'),
        launch.actions.DeclareLaunchArgument('params_file', default_value=nav2_param_path,
                                             description='Full path to param file to load'),

        launch.actions.IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
            # 使用 Launch 参数替换原有参数
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        ),
        launch_ros.actions.Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])

注意修改路径，文件名等你自定义的东西

3.在功能包下创建maps文件夹用于存放地图的.pgm和.yaml文件

4.在功能包下创建config文件夹

用于存放nav2官方nav2_params.yaml，便于修改，该文件请前往nav2官方github复制

https://github.com/ros-navigation/navigation2/blob/main/nav2_bringup/params/nav2_params.yaml

5.修改setup.py

修改setup.py，将功能包下的launch文件夹，maps文件夹，config文件夹复制到工作空间/install/share目录下

6.可以根据自己的机器人修改nav2_params.yaml中的内容

nav2_params.yaml中可以很方便修改bringup中的所有参数，通过start_nav2.launch.py来把nav2_params.yaml传递给bringup