{"id":314,"date":"2025-04-17T09:01:31","date_gmt":"2025-04-17T01:01:31","guid":{"rendered":"http:\/\/cennum.top\/?p=314"},"modified":"2025-04-18T00:26:52","modified_gmt":"2025-04-17T16:26:52","slug":"%e5%90%af%e5%8a%a8nav2","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/04\/17\/%e5%90%af%e5%8a%a8nav2\/","title":{"rendered":"\u624b\u52a8\u52a0\u8f7dpgm\u5730\u56fe"},"content":{"rendered":"\n<p>\u8f93\u51fatf\u6811<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 run tf2_tools view_frames<\/code><\/pre>\n\n\n\n<p>1\uff0c\u52a0\u8f7d\u5730\u56feyaml<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=\/home\/cennum\/cyberdog_sim\/src\/cyberdog_control\/cyberdog_nav2\/maps\/map1.yaml<\/code><\/pre>\n\n\n\n<p>2\uff1a\u89e6\u53d1\u751f\u547d\u5468\u671f<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 lifecycle set \/map_server configure\nros2 lifecycle set \/map_server activate<\/code><\/pre>\n\n\n\n<p>3.\u542f\u52a8\u5bfc\u822a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 launch nav2_bringup navigation_launch.py \\\n  map:=\/home\/cennum\/cyberdog_sim\/src\/cyberdog_control\/cyberdog_nav2\/maps\/map1.yaml \\\n  use_sim_time:=true<\/code><\/pre>\n\n\n\n<p>4\u3002\u91cd\u65b0\u52a0\u8f7d\u5730\u56fe<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>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'}\"<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u8f93\u51fatf\u6811 1\uff0c\u52a0\u8f7d\u5730\u56feyaml 2\uff1a\u89e6\u53d1\u751f\u547d\u5468\u671f &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[],"class_list":["post-314","post","type-post","status-publish","format-standard","hentry","category-linux"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/314","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=314"}],"version-history":[{"count":4,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/314\/revisions"}],"predecessor-version":[{"id":319,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/314\/revisions\/319"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=314"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=314"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=314"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}