{"id":99509,"date":"2026-09-02T18:49:01","date_gmt":"2026-09-02T10:49:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/99509.html"},"modified":"2026-09-02T18:49:01","modified_gmt":"2026-09-02T10:49:01","slug":"2026-ros-2-lyrical-%e5%b7%a5%e7%a8%8b%e5%ae%9e%e4%be%8b%ef%bc%88%e4%b8%80%ef%bc%89%ef%bc%9a%e4%bb%8e%e9%9b%b6%e6%90%ad%e5%bb%ba-amr-%e6%bf%80%e5%85%89-slam-gazebo%e3%80%81slam_toolbox","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/99509.html","title":{"rendered":"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a"},"content":{"rendered":"

\u7cfb\u5217： 2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883： Windows 11\u3001WSL2\u3001Ubuntu 26.04\u3001ROS 2 Lyrical\u3001Gazebo Sim\u3001slam_toolbox\u3001Nav2\u3001RViz2 \u9879\u76ee\u540d\u79f0： amr_slam \u5b8c\u6574\u4ee3\u7801： zephastra\/robotics：01-amr-slam \u5173\u952e\u8bcd： ROS 2\u3001Lyrical\u3001AMR\u3001SLAM\u3001Gazebo\u3001slam_toolbox\u3001Nav2\u3001RViz2<\/p>\n

\u524d\u8a00<\/h3>\n

\u524d\u9762\u51e0\u7bc7\u6587\u7ae0\u5206\u522b\u8ba8\u8bba\u4e86 ROS 2 Lyrical \u7684\u7f16\u8bd1\u3001DDS\u3001Gazebo\u3001TF\u3001SLAM \u4e0e Nav2 \u6392\u9519\u3002\u8fd9\u4e00\u6b21\u4e0d\u518d\u5355\u72ec\u8bb2\u67d0\u4e2a\u77e5\u8bc6\u70b9，\u800c\u662f\u628a\u8fd9\u4e9b\u7ec4\u4ef6\u8fde\u63a5\u8d77\u6765，\u5b8c\u6210\u4e00\u4e2a\u53ef\u4ee5\u5b9e\u9645\u8fd0\u884c\u7684 AMR \u6fc0\u5149 SLAM \u5de5\u7a0b\u5b9e\u4f8b\u3002<\/p>\n

\u8fd9\u4e2a\u5b9e\u4f8b\u5b9e\u73b0\u4e86\u4ee5\u4e0b\u5b8c\u6574\u6d41\u7a0b：<\/p>\n

Gazebo Sim \u542f\u52a8\u5dee\u901f AMR
\n \u2193
\nros_gz_bridge \u6865\u63a5\u65f6\u949f\u3001\u6fc0\u5149\u3001\u91cc\u7a0b\u8ba1\u4e0e\u901f\u5ea6\u6307\u4ee4
\n \u2193
\nslam_toolbox \u5728\u7ebf\u5efa\u7acb\u4e8c\u7ef4\u6805\u683c\u5730\u56fe
\n \u2193
\n\u4fdd\u5b58 map.pgm \u4e0e map.yaml
\n \u2193
\nNav2 \u52a0\u8f7d\u5730\u56fe\u5e76\u4f7f\u7528 AMCL \u5b9a\u4f4d
\n \u2193
\n\u5728 RViz2 \u4e2d\u8bbe\u7f6e\u76ee\u6807\u70b9，\u673a\u5668\u4eba\u81ea\u4e3b\u89c4\u5212\u5e76\u5230\u8fbe\u76ee\u6807<\/p>\n

\u8fd9\u4e0d\u662f\u53ea\u6709\u76ee\u5f55\u548c\u914d\u7f6e\u6587\u4ef6\u7684\u6f14\u793a\u5de5\u7a0b\u3002\u672c\u6587\u8bb0\u5f55\u7684\u6700\u7ec8\u7248\u672c\u5df2\u7ecf\u5b8c\u6210\u5b9e\u9645\u9a8c\u6536：\u673a\u5668\u4eba\u53ef\u4ee5\u79fb\u52a8\u3001\u5730\u56fe\u53ef\u4ee5\u751f\u6210\u548c\u4fdd\u5b58\u3001Nav2 \u5404\u751f\u547d\u5468\u671f\u8282\u70b9\u80fd\u591f\u8fdb\u5165 active，\u5bfc\u822a\u76ee\u6807\u6700\u7ec8\u8fd4\u56de SUCCEEDED\u3002<\/p>\n

\u9879\u76ee\u540d\u79f0\u662f amr_slam\u3002\u5176\u4e2d AMR \u662f Autonomous Mobile Robot（\u81ea\u4e3b\u79fb\u52a8\u673a\u5668\u4eba），\u4e0d\u8981\u8bef\u5199\u6210 arm_slam；\u540e\u8005\u66f4\u5bb9\u6613\u8ba9\u4eba\u8bef\u4ee5\u4e3a\u662f\u673a\u68b0\u81c2\u9879\u76ee\u3002<\/p>\n

\n

\u4e00\u3001\u6700\u7ec8\u5b9e\u73b0\u6548\u679c<\/h3>\n

\u672c\u5b9e\u4f8b\u5b8c\u6210\u4e86\u4e24\u79cd\u5de5\u4f5c\u6a21\u5f0f\u3002<\/p>\n

1. \u5728\u7ebf\u5efa\u56fe\u6a21\u5f0f<\/h4>\n

\u542f\u52a8 Gazebo\u3001Bridge\u3001TF\u3001slam_toolbox \u548c RViz2 \u540e，\u4f7f\u7528\u952e\u76d8\u63a7\u5236\u673a\u5668\u4eba\u5728\u623f\u95f4\u4e2d\u8fd0\u52a8\u3002slam_toolbox \u6839\u636e \/scan\u3001\u91cc\u7a0b\u8ba1\u548c TF \u6301\u7eed\u5efa\u7acb\u5730\u56fe\u3002<\/p>\n

\u952e\u76d8\u9065\u63a7 \u2192 \/cmd_vel \u2192 Gazebo \u5dee\u901f\u5e95\u76d8
\nGazebo LiDAR \u2192 \/scan \u2192 slam_toolbox
\nGazebo Odometry \u2192 \/odom \u2192 odom_to_tf
\nslam_toolbox \u2192 \/map + map\u2192odom<\/p>\n

2. \u9759\u6001\u5730\u56fe\u5bfc\u822a\u6a21\u5f0f<\/h4>\n

\u5b8c\u6210\u5efa\u56fe\u5e76\u4fdd\u5b58\u5730\u56fe\u540e，\u505c\u6b62\u5efa\u56fe\u8fdb\u7a0b，\u518d\u542f\u52a8 Nav2：<\/p>\n

map_server \u52a0\u8f7d\u5730\u56fe
\n \u2193
\nAMCL \u5b8c\u6210\u5b9a\u4f4d\u5e76\u53d1\u5e03 map\u2192odom
\n \u2193
\nPlanner Server \u751f\u6210\u5168\u5c40\u8def\u5f84
\n \u2193
\nController Server \u8f93\u51fa \/cmd_vel
\n \u2193
\nGazebo \u4e2d\u7684 AMR \u6267\u884c\u8fd0\u52a8<\/p>\n

\u8fd9\u91cc\u6700\u91cd\u8981\u7684\u8bbe\u8ba1\u662f：\u5efa\u56fe\u65f6\u7531 slam_toolbox \u53d1\u5e03 map \u2192 odom，\u9759\u6001\u5730\u56fe\u5bfc\u822a\u65f6\u7531 AMCL \u53d1\u5e03 map \u2192 odom，\u4e24\u4e2a\u5b9a\u4f4d\u6765\u6e90\u4e0d\u4f1a\u540c\u65f6\u8fd0\u884c\u3002<\/p>\n

\n

\u4e8c\u3001\u9879\u76ee\u76ee\u5f55\u7ed3\u6784<\/h3>\n

\u6700\u7ec8\u9879\u76ee\u76ee\u5f55\u5982\u4e0b：<\/p>\n

amr_slam\/
\n\u251c\u2500\u2500 README.md # \u5efa\u56fe\u8fd0\u884c\u8bf4\u660e
\n\u251c\u2500\u2500 README_Nav2.md # Nav2 \u8fd0\u884c\u8bf4\u660e
\n\u251c\u2500\u2500 amr_env.sh # ROS\u3001DDS\u3001WSLg \u73af\u5883\u914d\u7f6e
\n\u251c\u2500\u2500 amr_world.sdf # \u4eff\u771f\u4e16\u754c\u3001\u969c\u788d\u7269\u3001\u5dee\u901f\u5e95\u76d8\u548c 2D LiDAR
\n\u251c\u2500\u2500 bridge_config.yaml # Gazebo \u4e0e ROS 2 \u8bdd\u9898\u6865\u63a5
\n\u251c\u2500\u2500 odom_to_tf.py # \u5c06 \/odom \u8f6c\u6362\u4e3a odom\u2192base_link TF
\n\u251c\u2500\u2500 slam_params.yaml # slam_toolbox \u53c2\u6570
\n\u251c\u2500\u2500 nav2_params.yaml # ROS 2 Lyrical \u5bf9\u5e94\u7684 Nav2 \u53c2\u6570
\n\u251c\u2500\u2500 nav2_params_legacy.yaml # \u4fee\u590d\u524d\u7684\u53c2\u6570，\u4ec5\u7528\u4e8e\u5bf9\u7167
\n\u251c\u2500\u2500 rviz_slam.rviz # \u5efa\u56fe\u6a21\u5f0f RViz2 \u914d\u7f6e
\n\u251c\u2500\u2500 rviz_nav.rviz # \u5bfc\u822a\u6a21\u5f0f RViz2 \u914d\u7f6e
\n\u251c\u2500\u2500 install.sh # \u4e00\u6b21\u6027\u5b89\u88c5\u4f9d\u8d56
\n\u251c\u2500\u2500 run_bridges.sh # \u542f\u52a8 ros_gz_bridge
\n\u251c\u2500\u2500 run_mapping.sh # \u4e00\u952e\u542f\u52a8\u5efa\u56fe\u94fe\u8def
\n\u251c\u2500\u2500 save_map.sh # \u4fdd\u5b58 map.pgm \u4e0e map.yaml
\n\u2514\u2500\u2500 run_nav2.sh # \u4e00\u952e\u542f\u52a8\u9759\u6001\u5730\u56fe\u5bfc\u822a<\/p>\n

\u8fd9\u4e2a\u76ee\u5f55\u523b\u610f\u4fdd\u6301\u6241\u5e73\u3002\u5bf9\u4e8e\u6559\u5b66\u5b9e\u4f8b\u6765\u8bf4，\u8bfb\u8005\u6253\u5f00\u76ee\u5f55\u5c31\u80fd\u770b\u5230\u6bcf\u6761\u6570\u636e\u94fe\u5bf9\u5e94\u7684\u811a\u672c\u548c\u914d\u7f6e，\u6bd4\u4e00\u5f00\u59cb\u5c31\u5c01\u88c5\u6210\u591a\u4e2a ROS 2 \u529f\u80fd\u5305\u66f4\u5bb9\u6613\u7406\u89e3\u3002<\/p>\n

\u5982\u679c\u4ee5\u540e\u9700\u8981\u53d1\u5e03\u3001\u590d\u7528\u6216\u63a5\u5165\u771f\u5b9e\u673a\u5668\u4eba，\u518d\u5c06\u4e16\u754c\u6a21\u578b\u3001Bringup\u3001Navigation \u548c\u81ea\u5b9a\u4e49\u8282\u70b9\u62c6\u5206\u6210\u529f\u80fd\u5305\u4f1a\u66f4\u52a0\u5408\u9002\u3002<\/p>\n

\n

\u4e09\u3001\u7cfb\u7edf\u6570\u636e\u94fe\u8bbe\u8ba1<\/h3>\n

\u6574\u4e2a\u5de5\u7a0b\u80fd\u5426\u8dd1\u901a，\u5173\u952e\u4e0d\u662f\u67d0\u4e00\u4e2a\u53c2\u6570，\u800c\u662f\u56db\u6761\u6570\u636e\u94fe\u5fc5\u987b\u540c\u65f6\u6b63\u786e\u3002<\/p>\n\n\u6570\u636eGazebo \u7aefROS 2 \u7aef\u65b9\u5411<\/tr>\n\n\n\n\n\n
\u4eff\u771f\u65f6\u949f<\/td>\n\/clock<\/td>\n\/clock<\/td>\nGazebo \u2192 ROS 2<\/td>\n<\/tr>\n
\u6fc0\u5149\u96f7\u8fbe<\/td>\n\/scan<\/td>\n\/scan<\/td>\nGazebo \u2192 ROS 2<\/td>\n<\/tr>\n
\u91cc\u7a0b\u8ba1<\/td>\n\/model\/amr\/odometry<\/td>\n\/odom<\/td>\nGazebo \u2192 ROS 2<\/td>\n<\/tr>\n
\u901f\u5ea6\u6307\u4ee4<\/td>\n\/model\/amr\/cmd_vel<\/td>\n\/cmd_vel<\/td>\nROS 2 \u2192 Gazebo<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5bf9\u5e94\u7684\u6570\u636e\u6d41\u53ef\u4ee5\u6982\u62ec\u4e3a：<\/p>\n

\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \/scan \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510
\n \u2502 \u25bc
\n\u952e\u76d8 \/ Nav2 \u2500\u2500 \/cmd_vel \u2500\u2500\u25ba ros_gz_bridge \u2500\u2500\u25ba Gazebo \u2500\u2500\u25ba slam_toolbox
\n \u2502 \u2502
\n \u2514\u2500\u2500 \/odom \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
\n \u2502
\n \u25bc
\n odom_to_tf<\/p>\n

Bridge \u914d\u7f6e\u7684\u6838\u5fc3\u601d\u8def\u5982\u4e0b：<\/p>\n

–<\/span> ros_topic_name<\/span>:<\/span> \/clock
\n gz_topic_name<\/span>:<\/span> \/clock
\n ros_type_name<\/span>:<\/span> rosgraph_msgs\/msg\/Clock
\n gz_type_name<\/span>:<\/span> gz.msgs.Clock
\n direction<\/span>:<\/span> GZ_TO_ROS<\/p>\n

–<\/span> ros_topic_name<\/span>:<\/span> \/odom
\n gz_topic_name<\/span>:<\/span> \/model\/amr\/odometry
\n ros_type_name<\/span>:<\/span> nav_msgs\/msg\/Odometry
\n gz_type_name<\/span>:<\/span> gz.msgs.Odometry
\n direction<\/span>:<\/span> GZ_TO_ROS<\/p>\n

–<\/span> ros_topic_name<\/span>:<\/span> \/scan
\n gz_topic_name<\/span>:<\/span> \/scan
\n ros_type_name<\/span>:<\/span> sensor_msgs\/msg\/LaserScan
\n gz_type_name<\/span>:<\/span> gz.msgs.LaserScan
\n direction<\/span>:<\/span> GZ_TO_ROS<\/p>\n

–<\/span> ros_topic_name<\/span>:<\/span> \/cmd_vel
\n gz_topic_name<\/span>:<\/span> \/model\/amr\/cmd_vel
\n ros_type_name<\/span>:<\/span> geometry_msgs\/msg\/Twist
\n gz_type_name<\/span>:<\/span> gz.msgs.Twist
\n direction<\/span>:<\/span> ROS_TO_GZ<\/p>\n

\u4e0d\u8981\u770b\u5230 Topic \u540d\u79f0\u76f8\u540c\u5c31\u9ed8\u8ba4\u6865\u63a5\u6b63\u786e\u3002\u8fd8\u8981\u786e\u8ba4\u6d88\u606f\u7c7b\u578b\u3001\u65b9\u5411\u548c Gazebo \u5185\u90e8 Topic \u540d\u79f0\u5b8c\u5168\u5339\u914d，\u5c24\u5176\u662f \/cmd_vel \u5fc5\u987b\u4ece ROS 2 \u6d41\u5411 Gazebo\u3002<\/p>\n

\n

\u56db\u3001\u8865\u9f50 TF：\u4e3a\u4ec0\u4e48\u9700\u8981 odom_to_tf.py？<\/h3>\n

\u672c\u5de5\u7a0b\u4f7f\u7528\u7684 TF \u94fe\u4e3a：<\/p>\n

map \u2192 odom \u2192 base_link \u2192 laser_link<\/p>\n

\u5404\u6bb5\u53d8\u6362\u7684\u53d1\u5e03\u8005\u5982\u4e0b：<\/p>\n\nTF\u5efa\u56fe\u65f6\u53d1\u5e03\u8005\u5bfc\u822a\u65f6\u53d1\u5e03\u8005<\/tr>\n\n\n\n\n
map \u2192 odom<\/td>\nslam_toolbox<\/td>\nAMCL<\/td>\n<\/tr>\n
odom \u2192 base_link<\/td>\nodom_to_tf.py<\/td>\nodom_to_tf.py<\/td>\n<\/tr>\n
base_link \u2192 laser_link<\/td>\nstatic_transform_publisher<\/td>\nstatic_transform_publisher<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

ros_gz_bridge \u53ef\u4ee5\u628a Gazebo \u7684\u91cc\u7a0b\u8ba1\u8f6c\u6362\u6210 ROS 2 \u7684 \/odom \u6d88\u606f，\u4f46\u5b83\u4e0d\u4f1a\u81ea\u52a8\u66ff\u6211\u4eec\u53d1\u5e03 odom \u2192 base_link\u3002\u56e0\u6b64\u9700\u8981\u4e00\u4e2a\u5f88\u5c0f\u7684 Python \u8282\u70b9\u8bfb\u53d6 \/odom，\u518d\u5e7f\u64ad\u5bf9\u5e94 TF：<\/p>\n

import<\/span> rclpy
\nfrom<\/span> rclpy.<\/span>executors import<\/span> ExternalShutdownException
\nfrom<\/span> rclpy.<\/span>node import<\/span> Node
\nfrom<\/span> nav_msgs.<\/span>msg import<\/span> Odometry
\nfrom<\/span> tf2_ros import<\/span> TransformBroadcaster
\nfrom<\/span> geometry_msgs.<\/span>msg import<\/span> TransformStamped<\/p>\n

class<\/span> OdomToTF<\/span>(<\/span>Node)<\/span>:<\/span>
\n def<\/span> __init__<\/span>(<\/span>self)<\/span>:<\/span>
\n super<\/span>(<\/span>)<\/span>.<\/span>__init__(<\/span>'odom_to_tf'<\/span>)<\/span>
\n self.<\/span>tf_broadcaster =<\/span> TransformBroadcaster(<\/span>self)<\/span>
\n self.<\/span>sub =<\/span> self.<\/span>create_subscription(<\/span>Odometry,<\/span> '\/odom'<\/span>,<\/span> self.<\/span>cb,<\/span> 10<\/span>)<\/span><\/p>\n

def<\/span> cb<\/span>(<\/span>self,<\/span> msg)<\/span>:<\/span>
\n transform =<\/span> TransformStamped(<\/span>)<\/span>
\n transform.<\/span>header.<\/span>stamp =<\/span> msg.<\/span>header.<\/span>stamp
\n transform.<\/span>header.<\/span>frame_id =<\/span> msg.<\/span>header.<\/span>frame_id or<\/span> 'odom'<\/span>
\n transform.<\/span>child_frame_id =<\/span> 'base_link'<\/span>
\n transform.<\/span>transform.<\/span>translation.<\/span>x =<\/span> msg.<\/span>pose.<\/span>pose.<\/span>position.<\/span>x
\n transform.<\/span>transform.<\/span>translation.<\/span>y =<\/span> msg.<\/span>pose.<\/span>pose.<\/span>position.<\/span>y
\n transform.<\/span>transform.<\/span>translation.<\/span>z =<\/span> msg.<\/span>pose.<\/span>pose.<\/span>position.<\/span>z
\n transform.<\/span>transform.<\/span>rotation =<\/span> msg.<\/span>pose.<\/span>pose.<\/span>orientation
\n self.<\/span>tf_broadcaster.<\/span>sendTransform(<\/span>transform)<\/span><\/p>\n

def<\/span> main<\/span>(<\/span>)<\/span>:<\/span>
\n rclpy.<\/span>init(<\/span>)<\/span>
\n node =<\/span> OdomToTF(<\/span>)<\/span>
\n try<\/span>:<\/span>
\n rclpy.<\/span>spin(<\/span>node)<\/span>
\n except<\/span> (<\/span>KeyboardInterrupt,<\/span> ExternalShutdownException)<\/span>:<\/span>
\n pass<\/span>
\n finally<\/span>:<\/span>
\n node.<\/span>destroy_node(<\/span>)<\/span>
\n if<\/span> rclpy.<\/span>ok(<\/span>)<\/span>:<\/span>
\n rclpy.<\/span>shutdown(<\/span>)<\/span><\/p>\n

if<\/span> __name__ ==<\/span> '__main__'<\/span>:<\/span>
\n main(<\/span>)<\/span><\/p>\n

LiDAR \u5b89\u88c5\u5728\u5e95\u76d8\u4e0a\u65b9 0.20 \u7c73，\u56e0\u6b64\u8fd8\u8981\u53d1\u5e03\u9759\u6001\u53d8\u6362：<\/p>\n

ros2 run tf2_ros static_transform_publisher \\\\<\/span>
\n –x<\/span> 0<\/span> –y<\/span> 0<\/span> –z<\/span> 0.20<\/span> \\\\<\/span>
\n –roll<\/span> 0<\/span> –pitch<\/span> 0<\/span> –yaw<\/span> 0<\/span> \\\\<\/span>
\n –frame-id base_link \\\\<\/span>
\n –child-frame-id laser_link<\/p>\n

\u8fd9\u91cc\u7684\u9ad8\u5ea6\u5fc5\u987b\u4e0e amr_world.sdf \u4e2d LiDAR \u7684\u5b89\u88c5\u4f4d\u7f6e\u4e00\u81f4\u3002\u5426\u5219 RViz2 \u53ef\u80fd\u770b\u5f97\u5230\u6fc0\u5149，slam_toolbox \u5374\u65e0\u6cd5\u628a\u626b\u63cf\u6570\u636e\u6b63\u786e\u8f6c\u6362\u5230\u5e95\u76d8\u5750\u6807\u7cfb\u3002<\/p>\n

\n

\u4e94\u3001slam_toolbox \u7684\u6838\u5fc3\u914d\u7f6e<\/h3>\n

\u672c\u5b9e\u4f8b\u91c7\u7528\u5f02\u6b65\u5728\u7ebf\u5efa\u56fe，\u6838\u5fc3\u53c2\u6570\u5982\u4e0b：<\/p>\n

slam_toolbox<\/span>:<\/span>
\n ros__parameters<\/span>:<\/span>
\n use_sim_time<\/span>:<\/span> true<\/span><\/p>\n

odom_frame<\/span>:<\/span> odom
\n map_frame<\/span>:<\/span> map
\n base_frame<\/span>:<\/span> base_link
\n scan_topic<\/span>:<\/span> \/scan
\n mode<\/span>:<\/span> mapping<\/p>\n

resolution<\/span>:<\/span> 0.05<\/span>
\n map_update_interval<\/span>:<\/span> 5.0<\/span>
\n transform_publish_period<\/span>:<\/span> 0.05<\/span><\/p>\n

min_laser_range<\/span>:<\/span> 0.15<\/span>
\n max_laser_range<\/span>:<\/span> 12.0<\/span><\/p>\n

minimum_time_interval<\/span>:<\/span> 0.2<\/span>
\n angular_update<\/span>:<\/span> 0.1<\/span>
\n linear_update<\/span>:<\/span> 0.1<\/span>
\n throttle_scans<\/span>:<\/span> 1<\/span><\/p>\n

\u51e0\u4e2a\u91cd\u70b9\u53c2\u6570：<\/p>\n

    \n
  • use_sim_time: true：\u8ba9 slam_toolbox \u4f7f\u7528 Gazebo \u53d1\u5e03\u7684\u4eff\u771f\u65f6\u95f4；<\/li>\n
  • scan_topic: \/scan：\u5fc5\u987b\u4e0e Bridge \u8f93\u51fa\u4e00\u81f4；<\/li>\n
  • base_frame: base_link：\u5fc5\u987b\u5728 TF \u6811\u4e2d\u771f\u5b9e\u5b58\u5728；<\/li>\n
  • resolution: 0.05：\u6bcf\u4e2a\u5730\u56fe\u50cf\u7d20\u4ee3\u8868 5 \u5398\u7c73；<\/li>\n
  • mode: mapping：\u5f53\u524d\u8fd0\u884c\u7684\u662f\u5728\u7ebf\u5efa\u56fe，\u800c\u4e0d\u662f\u5b9a\u4f4d\u6a21\u5f0f\u3002<\/li>\n<\/ul>\n

    \u5982\u679c \/clock \u6ca1\u6709\u6865\u63a5，\u6216\u8005\u90e8\u5206\u8282\u70b9\u4f7f\u7528\u7cfb\u7edf\u65f6\u95f4\u3001\u90e8\u5206\u8282\u70b9\u4f7f\u7528\u4eff\u771f\u65f6\u95f4，\u5c31\u53ef\u80fd\u51fa\u73b0 TF \u67e5\u8be2\u8d85\u65f6\u3001\u6d88\u606f\u88ab\u4e22\u5f03\u548c\u5730\u56fe\u4e0d\u66f4\u65b0\u7b49\u95ee\u9898\u3002<\/p>\n

    \n

    \u516d\u3001\u5b89\u88c5\u4f9d\u8d56<\/h3>\n

    \u8fdb\u5165 WSL2：<\/p>\n

    wsl -d<\/span> Ubuntu<\/p>\n

    \u8fdb\u5165\u9879\u76ee\u76ee\u5f55：<\/p>\n

    cd<\/span> ~\/projects\/amr_slam<\/p>\n

    \u9996\u6b21\u8fd0\u884c\u65f6\u5b89\u88c5\u4f9d\u8d56：<\/p>\n

    bash<\/span> install.sh<\/p>\n

    \u5de5\u7a0b\u9700\u8981\u7684\u4e3b\u8981\u7ec4\u4ef6\u5305\u62ec：<\/p>\n

      \n
    • Gazebo Sim；<\/li>\n
    • ros_gz_bridge；<\/li>\n
    • slam_toolbox；<\/li>\n
    • Nav2；<\/li>\n
    • RViz2；<\/li>\n
    • teleop_twist_keyboard；<\/li>\n
    • Cyclone DDS\u3002<\/li>\n<\/ul>\n

      \u5b89\u88c5\u5b8c\u6210\u540e，\u53ef\u4ee5\u786e\u8ba4\u51e0\u4e2a\u5173\u952e\u529f\u80fd\u5305：<\/p>\n

      ros2 pkg prefix slam_toolbox
      \nros2 pkg prefix nav2_bringup
      \nros2 pkg prefix ros_gz_bridge
      \nros2 pkg prefix teleop_twist_keyboard<\/p>\n

      \u5982\u679c\u65b0\u5f00\u4e86\u7ec8\u7aef，\u5148\u52a0\u8f7d\u73af\u5883：<\/p>\n

      source<\/span> \/opt\/ros\/lyrical\/setup.bash<\/p>\n

      \u672c\u9879\u76ee\u7684\u542f\u52a8\u811a\u672c\u8fd8\u4f1a\u8bfb\u53d6 amr_env.sh，\u7edf\u4e00 DDS\u3001ROS 2 \u548c WSLg \u76f8\u5173\u73af\u5883，\u907f\u514d\u4e0d\u540c\u7ec8\u7aef\u4f7f\u7528\u4e0d\u540c\u901a\u4fe1\u8bbe\u7f6e\u3002<\/p>\n

      \n

      \u4e03\u3001\u4e00\u952e\u542f\u52a8\u5efa\u56fe<\/h3>\n

      \u8fd0\u884c：<\/p>\n

      cd<\/span> ~\/projects\/amr_slam
      \nbash<\/span> run_mapping.sh<\/p>\n

      \u811a\u672c\u4f1a\u4f9d\u6b21\u542f\u52a8：<\/p>\n

      [1\/5] Gazebo Sim
      \n[2\/5] ros_gz_bridge
      \n[3\/5] static TF \u4e0e odom_to_tf
      \n[4\/5] slam_toolbox
      \n[5\/5] RViz2<\/p>\n

      \u542f\u52a8\u5b8c\u6210\u540e，\u5f53\u524d\u7ec8\u7aef\u8fdb\u5165\u952e\u76d8\u9065\u63a7：<\/p>\n

      i \u524d\u8fdb
      \n, \u540e\u9000
      \nj \u5de6\u8f6c
      \nl \u53f3\u8f6c
      \nk \u505c\u6b62<\/p>\n

      \u63a8\u8350\u7684\u5efa\u56fe\u65b9\u5f0f：<\/p>\n

    • \u5148\u6cbf\u623f\u95f4\u5916\u56f4\u7f13\u6162\u884c\u9a76；<\/li>\n
    • \u8f6c\u5f2f\u65f6\u964d\u4f4e\u89d2\u901f\u5ea6，\u907f\u514d\u5feb\u901f\u539f\u5730\u65cb\u8f6c；<\/li>\n
    • \u518d\u8fdb\u5165\u4e2d\u95f4\u969c\u788d\u7269\u533a\u57df\u8865\u5168\u5730\u56fe；<\/li>\n
    • \u6700\u540e\u56de\u5230\u8d77\u70b9\u9644\u8fd1\u5f62\u6210\u95ed\u73af；<\/li>\n
    • \u89c2\u5bdf\u5730\u56fe\u7ecf\u8fc7\u56de\u73af\u4f18\u5316\u540e\u662f\u5426\u66f4\u52a0\u6574\u9f50\u3002<\/li>\n

      \u5efa\u56fe\u65f6\u53ef\u4ee5\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u68c0\u67e5\u5173\u952e\u8282\u70b9：<\/p>\n

      source<\/span> ~\/projects\/amr_slam\/amr_env.sh
      \nros2 node<\/span> list
      \nros2 lifecycle get \/slam_toolbox<\/p>\n

      \u9884\u671f\u80fd\u591f\u770b\u5230：<\/p>\n

      \/amr_gz_bridge
      \n\/odom_to_tf
      \n\/slam_toolbox<\/p>\n

      \u5e76\u4e14 slam_toolbox \u5e94\u663e\u793a：<\/p>\n

      active [3]<\/p>\n

      \u7ee7\u7eed\u68c0\u67e5\u8bdd\u9898：<\/p>\n

      ros2 topic hz \/scan
      \nros2 topic hz \/odom
      \nros2 topic echo<\/span> \/map –once<\/span> –field<\/span> info<\/p>\n

      \u68c0\u67e5 TF：<\/p>\n

      ros2 run tf2_ros tf2_echo odom base_link
      \nros2 run tf2_ros tf2_echo base_link laser_link
      \nros2 run tf2_ros tf2_echo map base_link<\/p>\n

      \u5982\u679c\u8fd9\u4e09\u6bb5\u53d8\u6362\u90fd\u80fd\u591f\u67e5\u8be2，\u8bf4\u660e\u5efa\u56fe\u6240\u9700\u7684 TF \u94fe\u5df2\u7ecf\u8fde\u901a\u3002<\/p>\n

      \n

      \u516b\u3001\u4fdd\u5b58\u5730\u56fe<\/h3>\n

      \u5b8c\u6210\u5efa\u56fe\u540e，\u4e0d\u8981\u7acb\u5373\u5173\u95ed\u5efa\u56fe\u7ec8\u7aef\u3002\u6253\u5f00\u7b2c\u4e8c\u4e2a WSL \u7ec8\u7aef：<\/p>\n

      cd<\/span> ~\/projects\/amr_slam
      \nbash<\/span> save_map.sh<\/p>\n

      \u811a\u672c\u4f1a\u901a\u8fc7 Nav2 Map Saver \u4fdd\u5b58：<\/p>\n

      map.pgm
      \nmap.yaml<\/p>\n

      \u68c0\u67e5\u6587\u4ef6：<\/p>\n

      ls<\/span> -lh<\/span> map.pgm map.yaml<\/p>\n

      map.yaml \u4e2d\u8bb0\u5f55\u56fe\u50cf\u6587\u4ef6\u3001\u5206\u8fa8\u7387\u3001\u539f\u70b9\u548c\u5360\u7528\u9608\u503c；map.pgm \u662f\u5b9e\u9645\u7684\u4e8c\u7ef4\u6805\u683c\u56fe\u50cf\u3002\u4e24\u4e2a\u6587\u4ef6\u5fc5\u987b\u914d\u5957\u4f7f\u7528\u3002<\/p>\n

      \u5730\u56fe\u4fdd\u5b58\u6210\u529f\u540e，\u56de\u5230\u7b2c\u4e00\u4e2a\u7ec8\u7aef\u6309 Ctrl+C\u3002run_mapping.sh \u4f1a\u6e05\u7406\u672c\u6b21\u542f\u52a8\u7684 Gazebo\u3001Bridge\u3001SLAM\u3001RViz2 \u548c\u8f85\u52a9\u8282\u70b9，\u907f\u514d\u5b83\u4eec\u4e0e\u4e0b\u4e00\u9636\u6bb5\u7684 Nav2 \u51b2\u7a81\u3002<\/p>\n

      \n

      \u4e5d\u3001\u542f\u52a8 Nav2 \u81ea\u4e3b\u5bfc\u822a<\/h3>\n

      \u786e\u8ba4\u5730\u56fe\u6587\u4ef6\u5b58\u5728\u540e\u8fd0\u884c：<\/p>\n

      cd<\/span> ~\/projects\/amr_slam
      \nbash<\/span> run_nav2.sh<\/p>\n

      \u5982\u679c\u5730\u56fe\u4e0d\u5728\u9ed8\u8ba4\u4f4d\u7f6e，\u4e5f\u53ef\u4ee5\u663e\u5f0f\u4f20\u5165：<\/p>\n

      bash<\/span> run_nav2.sh \/\u5b8c\u6574\u8def\u5f84\/map.yaml<\/p>\n

      \u542f\u52a8\u540e，\u5728 RViz2 \u4e2d\u5b8c\u6210\u4e24\u6b65\u64cd\u4f5c\u3002<\/p>\n

      1. \u8bbe\u7f6e\u521d\u59cb\u4f4d\u59ff<\/h4>\n

      \u9009\u62e9 2D Pose Estimate，\u5728\u5730\u56fe\u4e0a\u70b9\u51fb\u673a\u5668\u4eba\u5b9e\u9645\u4f4d\u7f6e，\u5e76\u62d6\u52a8\u7bad\u5934\u8bbe\u7f6e\u671d\u5411\u3002<\/p>\n

      \u8fd9\u662f\u5728\u544a\u8bc9 AMCL：\u201c\u673a\u5668\u4eba\u5f53\u524d\u5927\u7ea6\u4f4d\u4e8e\u8fd9\u91cc\u3002\u201d\u5982\u679c\u521d\u59cb\u4f4d\u7f6e\u5dee\u5f97\u592a\u8fdc，\u7c92\u5b50\u53ef\u80fd\u65e0\u6cd5\u6536\u655b\u3002<\/p>\n

      2. \u8bbe\u7f6e\u5bfc\u822a\u76ee\u6807<\/h4>\n

      \u9009\u62e9 Nav2 Goal，\u5728\u5730\u56fe\u53ef\u901a\u884c\u533a\u57df\u70b9\u51fb\u76ee\u6807\u70b9\u5e76\u8bbe\u7f6e\u76ee\u6807\u671d\u5411\u3002<\/p>\n

      Nav2 \u5c06\u4f9d\u6b21\u5b8c\u6210：<\/p>\n

      AMCL \u5b9a\u4f4d
      \n \u2193
      \nGlobal Planner \u751f\u6210\u8def\u5f84
      \n \u2193
      \nController Server \u8ddf\u8e2a\u8def\u5f84
      \n \u2193
      \n\/cmd_vel \u901a\u8fc7 Bridge \u8fdb\u5165 Gazebo
      \n \u2193
      \n\u673a\u5668\u4eba\u5230\u8fbe\u76ee\u6807<\/p>\n

      \u53ef\u4ee5\u68c0\u67e5\u5173\u952e\u751f\u547d\u5468\u671f\u8282\u70b9：<\/p>\n

      for<\/span> node<\/span> in<\/span> \\\\<\/span>
      \n \/map_server \\\\<\/span>
      \n \/amcl \\\\<\/span>
      \n \/controller_server \\\\<\/span>
      \n \/planner_server \\\\<\/span>
      \n \/bt_navigator
      \ndo<\/span>
      \n ros2 lifecycle get "$node<\/span>"<\/span>
      \ndone<\/span><\/p>\n

      \u8fd9\u4e9b\u8282\u70b9\u90fd\u5e94\u8be5\u5904\u4e8e：<\/p>\n

      active [3]<\/p>\n

      \n

      \u5341\u3001\u672c\u5b9e\u4f8b\u7684\u5b9e\u9645\u9a8c\u6536\u7ed3\u679c<\/h3>\n

      \u6700\u7ec8\u7248\u672c\u4e0d\u662f\u53ea\u9a8c\u8bc1\u201c\u7a97\u53e3\u80fd\u6253\u5f00\u201d，\u800c\u662f\u5b8c\u6210\u4e86\u4ece\u6570\u636e\u5230\u884c\u4e3a\u7684\u6574\u94fe\u8def\u6d4b\u8bd5\u3002<\/p>\n\n\u9a8c\u6536\u9879\u76ee\u7ed3\u679c<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n
      Gazebo \u4e16\u754c\u4e0e AMR \u6a21\u578b\u542f\u52a8<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      \/clock\u3001\/scan\u3001\/odom \u6865\u63a5<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      odom \u2192 base_link \u2192 laser_link TF<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      slam_toolbox \u751f\u547d\u5468\u671f<\/td>\nactive<\/td>\n<\/tr>\n
      \u673a\u5668\u4eba\u63a5\u6536 \/cmd_vel \u5e76\u79fb\u52a8<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      \u4e8c\u7ef4\u5730\u56fe\u751f\u6210<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      \u5730\u56fe\u4fdd\u5b58<\/td>\n\u6210\u529f，\u6d4b\u8bd5\u5730\u56fe\u4e3a 307\u00d7280<\/td>\n<\/tr>\n
      Map Server\u3001AMCL\u3001Planner\u3001Controller\u3001BT Navigator<\/td>\n\u5168\u90e8 active<\/td>\n<\/tr>\n
      \u5b9e\u9645\u5bfc\u822a\u76ee\u6807<\/td>\nSUCCEEDED<\/td>\n<\/tr>\n
      Bash\u3001Python\u3001YAML\u3001SDF \u68c0\u67e5<\/td>\n\u901a\u8fc7<\/td>\n<\/tr>\n
      Ctrl+C \u540e\u7684\u6b8b\u7559\u8fdb\u7a0b\u68c0\u67e5<\/td>\n\u65e0\u6b8b\u7559<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \u8fd9\u7ec4\u7ed3\u679c\u8bc1\u660e\u7cfb\u7edf\u4e0d\u662f\u201cTopic \u770b\u8d77\u6765\u90fd\u5b58\u5728\u201d，\u800c\u662f\u5b9e\u9645\u5b8c\u6210\u4e86：<\/p>\n

      \u4f20\u611f\u5668\u8f93\u5165 \u2192 \u5efa\u56fe \u2192 \u5730\u56fe\u4fdd\u5b58 \u2192 \u5b9a\u4f4d \u2192 \u89c4\u5212 \u2192 \u63a7\u5236 \u2192 \u5230\u8fbe\u76ee\u6807<\/p>\n

      \n

      \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

      \u5341\u4e00\u3001WSL2 \u4e0b\u6700\u5bb9\u6613\u5ffd\u7565\u7684\u51e0\u4e2a\u95ee\u9898<\/h3>\n

      1. Topic \u5b58\u5728，\u4f46\u6536\u4e0d\u5230\u6570\u636e<\/h4>\n

      \u5728 WSL2 \u4e2d，\u591a\u4e2a\u7ec8\u7aef\u5982\u679c\u4f7f\u7528\u4e86\u4e0d\u540c\u7684 DDS \u5b9e\u73b0\u3001\u53d1\u73b0\u8303\u56f4\u6216 ROS_DOMAIN_ID，\u53ef\u80fd\u51fa\u73b0\u8282\u70b9\u5217\u8868\u6b63\u5e38，\u4f46 Topic \u6ca1\u6709\u5b9e\u9645\u6570\u636e\u7684\u60c5\u51b5\u3002<\/p>\n

      \u672c\u5de5\u7a0b\u7edf\u4e00\u4f7f\u7528 amr_env.sh \u52a0\u8f7d\u901a\u4fe1\u73af\u5883：<\/p>\n

      source<\/span> ~\/projects\/amr_slam\/amr_env.sh<\/p>\n

      \u4e0d\u8981\u53ea\u6267\u884c\u4e00\u6b21\u540e\u5047\u8bbe\u6240\u6709\u65b0\u7ec8\u7aef\u90fd\u4f1a\u7ee7\u627f\u3002\u6bcf\u4e2a\u65b0\u7ec8\u7aef\u90fd\u9700\u8981\u52a0\u8f7d\u4e00\u81f4\u7684\u73af\u5883\u3002<\/p>\n

      2. \/cmd_vel \u6709\u8f93\u51fa，\u4f46\u673a\u5668\u4eba\u4e0d\u52a8<\/h4>\n

      \u68c0\u67e5\u53d1\u5e03\u8005\u3001\u8ba2\u9605\u8005\u548c\u7c7b\u578b：<\/p>\n

      ros2 topic info –verbose<\/span> \/cmd_vel
      \nros2 topic echo<\/span> \/cmd_vel –once<\/span><\/p>\n

      \u672c\u5b9e\u4f8b\u6700\u7ec8\u7edf\u4e00\u4f7f\u7528：<\/p>\n

      geometry_msgs\/msg\/Twist<\/p>\n

      \u5982\u679c Nav2 \u8f93\u51fa TwistStamped，\u800c Gazebo Bridge \u7b49\u5f85 Twist，\u5373\u4f7f Topic \u540d\u79f0\u76f8\u540c\u4e5f\u65e0\u6cd5\u6b63\u786e\u9a71\u52a8\u5e95\u76d8\u3002<\/p>\n

      3. \u5efa\u56fe\u4e0e\u5bfc\u822a\u540c\u65f6\u8fd0\u884c<\/h4>\n

      \u5efa\u56fe\u6a21\u5f0f\u7684 slam_toolbox \u4e0e AMCL \u90fd\u53ef\u80fd\u53d1\u5e03 map \u2192 odom\u3002\u4e24\u8005\u540c\u65f6\u8fd0\u884c\u4f1a\u4e89\u593a\u540c\u4e00\u6bb5 TF，\u9020\u6210\u5730\u56fe\u8df3\u52a8\u3001\u5b9a\u4f4d\u6f02\u79fb\u6216\u89c4\u5212\u5931\u8d25\u3002<\/p>\n

      \u6b63\u786e\u987a\u5e8f\u662f：<\/p>\n

      \u8fd0\u884c\u5efa\u56fe \u2192 \u4fdd\u5b58\u5730\u56fe \u2192 Ctrl+C \u5b8c\u6574\u9000\u51fa \u2192 \u542f\u52a8 Nav2<\/p>\n

      4. Gazebo \u6216 RViz2 \u5728 WSLg \u4e2d\u6253\u4e0d\u5f00<\/h4>\n

      \u672c\u5de5\u7a0b\u901a\u8fc7 amr_env.sh \u7edf\u4e00 Qt\/WSLg \u73af\u5883\u3002\u6ca1\u6709\u56fe\u5f62\u754c\u9762\u65f6\u4e5f\u53ef\u4ee5\u4f7f\u7528\u65e0\u5934\u6a21\u5f0f：<\/p>\n

      AMR_HEADLESS<\/span>=<\/span>1<\/span> bash<\/span> run_mapping.sh<\/p>\n

      \u65e0\u5934\u6a21\u5f0f\u9002\u5408\u81ea\u52a8\u9a8c\u6536\u548c\u670d\u52a1\u5668\u73af\u5883，\u4f46\u6ca1\u6709\u952e\u76d8\u9065\u63a7\u754c\u9762\u3002\u81ea\u52a8\u6d4b\u8bd5\u65f6\u9700\u8981\u5355\u72ec\u5411 \/cmd_vel \u53d1\u5e03\u901f\u5ea6\u6307\u4ee4\u3002<\/p>\n

      5. \u9000\u51fa\u540e\u6b8b\u7559\u8fdb\u7a0b<\/h4>\n

      \u5982\u679c\u811a\u672c\u53ea\u7ed3\u675f\u7236\u8fdb\u7a0b，Gazebo\u3001ROS Launch \u6216 Nav2 \u7684\u5b50\u8fdb\u7a0b\u53ef\u80fd\u7ee7\u7eed\u8fd0\u884c\u3002\u4e0b\u4e00\u6b21\u542f\u52a8\u65f6，\u5c31\u4f1a\u51fa\u73b0\u7aef\u53e3\u3001Topic\u3001TF \u6216\u751f\u547d\u5468\u671f\u8282\u70b9\u51b2\u7a81\u3002<\/p>\n

      \u56e0\u6b64\u4e00\u952e\u811a\u672c\u4e0d\u4ec5\u8981\u8d1f\u8d23\u542f\u52a8，\u4e5f\u5fc5\u987b\u8bbe\u7f6e\u9000\u51fa\u9677\u9631，\u6309\u8fdb\u7a0b\u7ec4\u6e05\u7406\u5168\u90e8\u5b50\u8fdb\u7a0b\u3002\u8c03\u8bd5\u540e\u53ef\u4ee5\u68c0\u67e5：<\/p>\n

      pgrep -af<\/span> "gz sim|ros_gz_bridge|slam_toolbox|nav2_|amcl|odom_to_tf.py"<\/span><\/p>\n

      \u6ca1\u6709\u8f93\u51fa\u624d\u8868\u793a\u73af\u5883\u771f\u6b63\u6062\u590d\u5e72\u51c0\u3002<\/p>\n

      \n

      \u5341\u4e8c\u3001\u8fd9\u4e2a\u5b9e\u4f8b\u8fd8\u53ef\u4ee5\u600e\u6837\u6269\u5c55？<\/h3>\n

      \u5f53\u524d\u9879\u76ee\u5df2\u7ecf\u5b8c\u6210\u4e8c\u7ef4\u4eff\u771f\u5efa\u56fe\u548c\u5bfc\u822a，\u4f46\u5b83\u4ecd\u662f\u4e00\u4e2a\u9002\u5408\u5b66\u4e60\u6570\u636e\u94fe\u7684\u57fa\u7840\u5b9e\u4f8b\u3002\u540e\u7eed\u53ef\u4ee5\u6cbf\u7740\u4e0b\u9762\u51e0\u4e2a\u65b9\u5411\u7ee7\u7eed\u6269\u5c55：<\/p>\n

    • \u4f7f\u7528 URDF\/Xacro \u4e0e robot_state_publisher \u4ee3\u66ff\u90e8\u5206\u624b\u5de5\u9759\u6001 TF；<\/li>\n
    • \u4f7f\u7528 ros2_control \u7ba1\u7406\u771f\u5b9e\u6216\u4eff\u771f\u7684\u5dee\u901f\u5e95\u76d8；<\/li>\n
    • \u52a0\u5165 IMU，\u5e76\u4f7f\u7528 robot_localization \u878d\u5408\u8f6e\u901f\u91cc\u7a0b\u8ba1\u548c\u60ef\u6027\u6570\u636e；<\/li>\n
    • \u5728 Local Costmap \u4e2d\u52a0\u5165\u52a8\u6001\u969c\u788d\u7269\u6d4b\u8bd5；<\/li>\n
    • \u589e\u52a0\u81ea\u52a8\u5de1\u822a\u822a\u70b9\u548c\u4efb\u52a1\u72b6\u6001\u673a；<\/li>\n
    • \u628a\u542f\u52a8\u811a\u672c\u6574\u7406\u4e3a\u6807\u51c6 ROS 2 Bringup \u529f\u80fd\u5305；<\/li>\n
    • \u63a5\u5165\u771f\u5b9e 2D LiDAR \u548c\u5e95\u76d8，\u5c06\u4eff\u771f\u53c2\u6570\u8fc1\u79fb\u5230\u5b9e\u4f53 AMR\u3002<\/li>\n

      \u771f\u6b63\u8fc1\u79fb\u5230\u5b9e\u4f53\u673a\u5668\u4eba\u65f6，\u6700\u9700\u8981\u91cd\u65b0\u6807\u5b9a\u7684\u4e0d\u662f Nav2 \u7684\u201c\u795e\u5947\u53c2\u6570\u201d，\u800c\u662f：<\/p>\n

      \u8f6e\u5f84\u4e0e\u8f6e\u8ddd
      \n\u91cc\u7a0b\u8ba1\u65b9\u5411\u548c\u5c3a\u5ea6
      \nLiDAR \u5b89\u88c5\u4f4d\u59ff
      \n\u673a\u5668\u4eba Footprint
      \n\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u548c\u5236\u52a8\u80fd\u529b<\/p>\n

      \u57fa\u7840\u6570\u636e\u53ef\u4fe1\u4ee5\u540e，SLAM \u548c\u5bfc\u822a\u53c2\u6570\u624d\u6709\u8c03\u4f18\u4ef7\u503c\u3002<\/p>\n

      \n

      \u5341\u4e09\u3001\u603b\u7ed3<\/h3>\n

      \u672c\u5b9e\u4f8b\u4f7f\u7528 ROS 2 Lyrical\u3001Gazebo Sim\u3001ros_gz_bridge\u3001slam_toolbox\u3001Nav2 \u548c RViz2，\u5b8c\u6210\u4e86\u4e00\u5957\u80fd\u591f\u5b9e\u9645\u8fd0\u884c\u7684 AMR \u4e8c\u7ef4 SLAM \u4e0e\u81ea\u4e3b\u5bfc\u822a\u94fe\u8def\u3002<\/p>\n

      \u6574\u4e2a\u5de5\u7a0b\u6700\u503c\u5f97\u8bb0\u4f4f\u7684\u4e0d\u662f\u67d0\u4e00\u4e2a YAML \u6570\u503c，\u800c\u662f\u7ec4\u4ef6\u4e4b\u95f4\u6e05\u6670\u7684\u804c\u8d23：<\/p>\n

      Gazebo：\u751f\u6210\u673a\u5668\u4eba\u8fd0\u52a8\u548c\u4f20\u611f\u5668\u6570\u636e
      \nros_gz_bridge：\u8fde\u63a5 Gazebo \u4e0e ROS 2
      \nodom_to_tf：\u8865\u9f50 odom\u2192base_link
      \nslam_toolbox：\u5728\u7ebf\u5efa\u56fe\u5e76\u53d1\u5e03 map\u2192odom
      \nMap Saver：\u4fdd\u5b58\u4e8c\u7ef4\u5730\u56fe
      \nAMCL：\u5728\u9759\u6001\u5730\u56fe\u4e2d\u5b9a\u4f4d
      \nNav2：\u5b8c\u6210\u89c4\u5212\u3001\u63a7\u5236\u4e0e\u4efb\u52a1\u6267\u884c
      \nRViz2：\u663e\u793a\u72b6\u6001\u5e76\u63d0\u4f9b\u4ea4\u4e92\u5165\u53e3<\/p>\n

      \u6700\u7ec8\u9a8c\u6536\u5df2\u7ecf\u8bc1\u660e：\u673a\u5668\u4eba\u80fd\u591f\u5efa\u56fe\u3001\u4fdd\u5b58\u5730\u56fe\u3001\u91cd\u65b0\u5b9a\u4f4d\u3001\u89c4\u5212\u8def\u5f84\u5e76\u5230\u8fbe\u76ee\u6807\u3002\u5230\u8fd9\u91cc，\u6211\u4eec\u4e0d\u518d\u53ea\u662f\u5206\u522b\u8fd0\u884c\u51e0\u4e2a ROS 2 \u8282\u70b9，\u800c\u662f\u7b2c\u4e00\u6b21\u628a\u611f\u77e5\u3001\u5b9a\u4f4d\u3001\u89c4\u5212\u548c\u63a7\u5236\u8fde\u63a5\u6210\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684\u79fb\u52a8\u673a\u5668\u4eba\u7cfb\u7edf\u3002<\/p>\n

      \u4e0b\u4e00\u7bc7\u5de5\u7a0b\u5b9e\u4f8b\u53ef\u4ee5\u7ee7\u7eed\u5728\u8fd9\u4e2a\u9879\u76ee\u4e0a\u589e\u52a0 IMU \u4e0e robot_localization，\u6216\u8005\u5c06 AMR \u4eff\u771f\u6a21\u578b\u6574\u7406\u6210\u6807\u51c6 ROS 2 \u529f\u80fd\u5305\u3002<\/p>\n

      \n

      \u9879\u76ee\u5b8c\u6574\u4ee3\u7801<\/h3>\n

      \u672c\u6587\u4f7f\u7528\u7684\u5168\u90e8\u4ee3\u7801\u5df2\u7ecf\u4e0a\u4f20\u5230 GitHub：<\/p>\n

      https:\/\/github.com\/zephastra\/robotics\/tree\/main\/projects\/01-amr-slam<\/p>\n","protected":false},"excerpt":{"rendered":"

      \u7cfb\u5217： 2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883： Windows 11\u3001WSL2\u3001Ubuntu 26.04\u3001ROS 2 Lyrical\u3001Gazebo Sim\u3001slam_toolbox\u3001Nav2\u3001RViz2 \u9879\u76ee\u540d\u79f0： amr_slam \u5b8c\u6574\u4ee3\u7801： zephastra\/robotics：01-amr-slam \u5173\u952e\u8bcd： ROS 2\u3001Lyrical\u3001AMR\u3001SLAM\u3001Gazebo\u3001s<\/p>\n","protected":false},"author":2,"featured_media":99508,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6484,55,2968],"topic":[],"class_list":["post-99509","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-gazebo","tag-c","tag-ros2"],"yoast_head":"\n2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/99509.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u7cfb\u5217： 2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883： Windows 11\u3001WSL2\u3001Ubuntu 26.04\u3001ROS 2 Lyrical\u3001Gazebo Sim\u3001slam_toolbox\u3001Nav2\u3001RViz2 \u9879\u76ee\u540d\u79f0： amr_slam \u5b8c\u6574\u4ee3\u7801： zephastra\/robotics：01-amr-slam \u5173\u952e\u8bcd： ROS 2\u3001Lyrical\u3001AMR\u3001SLAM\u3001Gazebo\u3001s\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/99509.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-09-02T10:49:01+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260902104859-6a97ff1b73034.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"7 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/99509.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/99509.html\",\"name\":\"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-09-02T10:49:01+00:00\",\"dateModified\":\"2026-09-02T10:49:01+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/99509.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/99509.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/99509.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/99509.html","og_locale":"zh_CN","og_type":"article","og_title":"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"\u7cfb\u5217： 2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883： Windows 11\u3001WSL2\u3001Ubuntu 26.04\u3001ROS 2 Lyrical\u3001Gazebo Sim\u3001slam_toolbox\u3001Nav2\u3001RViz2 \u9879\u76ee\u540d\u79f0： amr_slam \u5b8c\u6574\u4ee3\u7801： zephastra\/robotics：01-amr-slam \u5173\u952e\u8bcd： ROS 2\u3001Lyrical\u3001AMR\u3001SLAM\u3001Gazebo\u3001s","og_url":"https:\/\/www.wsisp.com\/helps\/99509.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-09-02T10:49:01+00:00","og_image":[{"url":"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260902104859-6a97ff1b73034.png"}],"author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"7 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/99509.html","url":"https:\/\/www.wsisp.com\/helps\/99509.html","name":"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-09-02T10:49:01+00:00","dateModified":"2026-09-02T10:49:01+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/99509.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/99509.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/99509.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"2026 ROS 2 Lyrical \u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e00\uff09\uff1a\u4ece\u96f6\u642d\u5efa AMR \u6fc0\u5149 SLAM\u2014\u2014Gazebo\u3001slam_toolbox \u4e0e Nav2 \u5168\u94fe\u8def\u8dd1\u901a"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/99509","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=99509"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/99509\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media\/99508"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=99509"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=99509"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=99509"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=99509"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}