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äHuang77 2026-05-18 08:21:35 +00:00
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README.md
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@ -14,8 +14,6 @@
```bash ```bash
cd /workspace cd /workspace
colcon build --symlink-install colcon build --symlink-install
source /opt/ros/humble/setup.bash
source install/setup.bash
``` ```
### 确认 package 能被 ROS2 找到 ### 确认 package 能被 ROS2 找到
@ -27,13 +25,11 @@ ros2 pkg list | grep explore
### 注意事项 ### 注意事项
为了方便，写入 `~/.bashrc`： 每一个终端执行前建议：
```bash ```bash
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc source /opt/ros/humble/setup.bash
echo 'source /workspace/install/setup.bash' >> ~/.bashrc source /workspace/install/setup.bash
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc
``` ```
## 2. 启动仿真(后面每一个步骤都在新终端执行) ## 2. 启动仿真(后面每一个步骤都在新终端执行)
@ -68,7 +64,7 @@ ros2 launch explore_lite explore.launch.py
export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map 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 ros2 run nav2_map_server map_saver_cli -f ${NAV2_MAP_PATH}/office_map
``` ```
执行结束后，路径/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map下会新增新地图的pgm和yaml文件。
## 8. 模型说明 ## 8. 模型说明
该package 基于explore_lite进行 ROS2 适配与二次开发，是未知环境自主建图的核心，实现地图前沿检测、探索目标。m-explore-ros2 package 的src/目录下包含explore.cpp、costmap_client.cpp、frontier_search.cpp，分别实现探索节点主要逻辑、代价地图数据subscribe与同步， frontier_search的核心算法。 该package 基于explore_lite进行 ROS2 适配与二次开发，是未知环境自主建图的核心，实现地图前沿检测、探索目标。m-explore-ros2 package 的src/目录下包含explore.cpp、costmap_client.cpp、frontier_search.cpp，分别实现探索节点主要逻辑、代价地图数据subscribe与同步， frontier_search的核心算法。

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