README.md

录制路径

设置录制文件名 bot_record_path.cpp

103  string file_path = "substation";
104  savePathToFile(file_path.c_str());

运行

shell1: 打开gazeo仿真环境

$ ros2 launch bot_bringup gazebo_substation.launch.py

shell2：启动导航系统

$ ros2 launch bot_navigation2 bot_navigation2.launch.py

shell3：先运行记录程序节点

$ ros2 run bot_bag bot_record_path 

shell4：启动键盘控制节点

$ ros2 run bot_teleop teleop_twist_keyboard_turn

shell5：运行完之后停止记录

$ ros2 topic pub /start_end_record std_msgs/String "data: 'end'"

显示路径

修改csv文件路径bot_show_path.cpp

45  const std::string share_directory = ament_index_cpp::get_package_share_directory("bot_bag");
46  const std::string csv_path = share_directory + "/path/substation.csv";

运行

shell1: 打开rviz2,显示地图

$ ros2 launch bot_bag bot_load_map.launch.py

shell2：发布路径

$ ros2 run bot_bag bot_show_path