update

README.md

@@ -7,7 +7,6 @@
 - Ubuntu 22.04
 - ROS2 Humble
 - Gazebo Sim Harmonic
-
 ---
 
 ### 编译
@@ -16,7 +15,7 @@
 cd /workspace
 colcon build --symlink-install
 source /opt/ros/humble/setup.bash
-source ~/ros_ws/install/setup.bash
+source install/setup.bash
 ```
 
 ### 确认 package 能被 ROS2 找到
@@ -24,6 +23,7 @@ source ~/ros_ws/install/setup.bash
 ```bash
 ros2 pkg list | grep explore
 ```
+预计打印结果：explore_lite
 
 ### 注意事项
 
@@ -33,7 +33,6 @@ ros2 pkg list | grep explore
 source /opt/ros/humble/setup.bash
 source install/setup.bash
 export TURTLEBOT3_MODEL=burger
-export NAV2_MAP_PATH=~/ros_ws/src/VLM-semantic-nav2/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
 ```
 
 为了方便，也可以写入 `~/.bashrc`：
@@ -42,26 +41,23 @@ export NAV2_MAP_PATH=~/ros_ws/src/VLM-semantic-nav2/turtlebot3_simulations/turtl
 echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
 echo 'source ~/ros_ws/install/setup.bash' >> ~/.bashrc
 echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
-echo 'export NAV2_MAP_PATH=~/ros_ws/src/VLM-semantic-nav2/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml' >> ~/.bashrc
 source ~/.bashrc
 ```
 
 ## 2. 启动仿真， Nav2导航栈， SLAM Toolbox异步建图， rviz2
 
 ```bash
-ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py \
-    x_pose:=0.0 y_pose:=0.0 use_sim_time:=true use_rviz:=false headless:=true
-    
-ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True headless:=False
+./gzsim_run.sh
 
 ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True
 
-ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz
+ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True headless:=False
+
+ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
 
 ```
 
-
-## 3. 启动explore_lite 自主探索节点
+## 3. 启动explore_lite 自主探索节点（如果机器人在探索时在某一点长时间卡住，可以在rviz中使用Nav2 Goal进行单点导航探索。）
 ```bash
 ros2 launch explore_lite explore.launch.py
 ```
@@ -73,8 +69,8 @@ ros2 launch explore_lite explore.launch.py
 机器人完成环境全区域探索后，新开终端执行地图保存命令，地图将保存至$NAV2_MAP_PATH指定路径
 
 ```bash
-export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
-ros2 run nav2_map_server map_saver_cli -f $NAV2_MAP_PATH
+export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map
+ros2 run nav2_map_server map_saver_cli -f ${NAV2_MAP_PATH}/office_map
 ```
 
 ## 5. 模型说明