Create README.md

README.md

@@ -18,16 +18,8 @@ source install/setup.bash
 ```
 
 ### 注意事项
-之后每打开一个新终端，都建议先执行：
 
-```bash
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-export TURTLEBOT3_MODEL=burger
-export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
-```
-
-为了方便，也可以写入 `~/.bashrc`：
+为了方便，写入 `~/.bashrc`：
 
 ```bash
 echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
@@ -37,19 +29,31 @@ echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gaze
 source ~/.bashrc
 ```
 
-   启动仿真， Nav2导航栈， AMCL节点，rviz
+## 2. 启动仿真
 ```bash
 ./gzsim_run.sh
+```
 
+## 3. 启动 AMCL节点（负责 “map_server + amcl”）
+
+```bash
 ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
     use_sim_time:=true \
     map:=$NAV2_MAP_PATH \
     params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml
+```
 
+## 4. 启动 Nav2导航栈（负责 “RRT* 规划器 + controller + bt_navigator）
+
+```bash
 ros2 launch nav2_bringup navigation_launch.py \
     use_sim_time:=True \
     params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml
+```
 
+ ## 5. 打开rviz
+
+```bash
 ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
 ```