forked from hq/office_RRT_star
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äHuang77
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README.md
13
README.md
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@ -37,20 +37,19 @@ echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gaze
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source ~/.bashrc
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source ~/.bashrc
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```
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```
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1. 每个终端都要按照3.2.1前置准备操作
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启动仿真， Nav2导航栈， AMCL节点，rviz
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2. 启动仿真， Nav2导航栈， AMCL节点，rviz
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```bash
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```bash
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./gzsim_run.sh
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./gzsim_run.sh
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ros2 launch nav2_bringup navigation_launch.py \
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use_sim_time:=True \
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params_file:=$HOME/ros_ws/src/vlm-semantic-nav2/TurtleBot-RRT-Star/nav2_params.yaml \
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map:=$NAV2_MAP_PATH
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ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
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ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
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use_sim_time:=true \
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use_sim_time:=true \
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map:=$NAV2_MAP_PATH
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map:=$NAV2_MAP_PATH
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ros2 launch nav2_bringup navigation_launch.py \
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use_sim_time:=True \
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params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
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map:=$NAV2_MAP_PATH
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ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
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ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
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```
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```
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@ -23,33 +23,6 @@
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gz_type_name: gz.msgs.LaserScan
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gz_type_name: gz.msgs.LaserScan
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direction: GZ_TO_ROS
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direction: GZ_TO_ROS
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- ros_topic_name: /intel_realsense_r200_rgb/image_raw
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ros_type_name: sensor_msgs/msg/Image
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gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image
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gz_type_name: gz.msgs.Image
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direction: GZ_TO_ROS
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- ros_topic_name: /intel_realsense_r200_rgb/camera_info
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ros_type_name: sensor_msgs/msg/CameraInfo
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gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info
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gz_type_name: gz.msgs.CameraInfo
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direction: GZ_TO_ROS
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# === Depth image (L16 workaround for Humble) ===
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# Gazebo depth camera with <format>L16</format> publishes on /depth_image topic
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# as gz.msgs.Image type (NOT /image). This bypasses unsupported gz.msgs.DepthImage.
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- ros_topic_name: /intel_realsense_r200_depth/depth/image_raw
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ros_type_name: sensor_msgs/msg/Image
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gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image
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gz_type_name: gz.msgs.Image
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direction: GZ_TO_ROS
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- ros_topic_name: /intel_realsense_r200_depth/camera_info
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ros_type_name: sensor_msgs/msg/CameraInfo
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gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info
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gz_type_name: gz.msgs.CameraInfo
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direction: GZ_TO_ROS
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- ros_topic_name: /clock
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- ros_topic_name: /clock
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ros_type_name: rosgraph_msgs/msg/Clock
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ros_type_name: rosgraph_msgs/msg/Clock
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gz_topic_name: /clock
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gz_topic_name: /clock
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@ -308,63 +308,6 @@
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</geometry>
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</geometry>
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</collision>
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</collision>
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<pose>0.076 0 0.093 0 0 0</pose>
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<pose>0.076 0 0.093 0 0 0</pose>
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<!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
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Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
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Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
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Gz Sim uses raycasting rendering so it is NOT needed here.
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Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
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<sensor name="intel_realsense_r200_depth" type="depth">
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<pose>0.076 0.0 0.093 0 0 0</pose>
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<camera name="realsense_depth_camera">
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<image>
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<width>640</width>
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<height>480</height>
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<!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
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This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
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and outputs standard gz.msgs.Image that can be bridged directly. -->
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<format>L16</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>10</far>
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</clip>
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</camera>
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<!-- Disable native DepthImage output to avoid topic conflict.
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With this false, Gazebo only publishes /image (L16) instead of /depth_image
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NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
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</sensor>
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<!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
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Original plugin had: hack_baseline=0.07 (stereo baseline)
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Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
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<sensor name="intel_realsense_r200_rgb" type="camera">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<update_rate>30</update_rate>
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<pose>0.076 0.0 0.093 0 0 0</pose>
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<camera name="realsense_rgb_camera">
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<horizontal_fov>1.02974</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<!-- <width>1920</width> -->
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<!-- <height>1080</height> -->
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</sensor>
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</link>
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</link>
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<joint name="base_joint" type="fixed">
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<joint name="base_joint" type="fixed">
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