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Create README.md

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administrator 2026-05-08 13:38:00 +00:00
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@ -18,16 +18,8 @@ source install/setup.bash
``` ```
### 注意事项 ### 注意事项
之后每打开一个新终端，都建议先执行：
```bash 为了方便，写入 `~/.bashrc`：
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`：
```bash ```bash
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc 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 source ~/.bashrc
``` ```
启动仿真， Nav2导航栈， AMCL节点，rviz ## 2. 启动仿真
```bash ```bash
./gzsim_run.sh ./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 \ ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
use_sim_time:=true \ use_sim_time:=true \
map:=$NAV2_MAP_PATH \ map:=$NAV2_MAP_PATH \
params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml 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 \ ros2 launch nav2_bringup navigation_launch.py \
use_sim_time:=True \ use_sim_time:=True \
params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml 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 ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
``` ```