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@@ -2,6 +2,108 @@
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1.编写launch文件
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+```
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+'''
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+作者: 小鱼
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+公众号: 鱼香ROS
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+QQ交流群: 2642868461
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+描述: file content
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+'''
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+import os
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+
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+from ament_index_python.packages import get_package_share_directory
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+from launch import LaunchDescription
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+from launch.actions import DeclareLaunchArgument
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+from launch.actions import IncludeLaunchDescription
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+from launch.launch_description_sources import PythonLaunchDescriptionSource
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+from launch.substitutions import LaunchConfiguration
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+from launch_ros.actions import Node
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+
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+
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+
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+def generate_launch_description():
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+ fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
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+ nav2_bringup_dir = get_package_share_directory('nav2_bringup')
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+
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+ use_sim_time = LaunchConfiguration('use_sim_time', default='true')
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+ map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','fishbot_map.yaml'))
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+ nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','fishbot.yaml'))
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+
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+ rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')
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+
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+ return LaunchDescription([
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+ DeclareLaunchArgument('use_sim_time',default_value=use_sim_time,description='Use simulation (Gazebo) clock if true'),
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+ DeclareLaunchArgument('map',default_value=map_yaml_path,description='Full path to map file to load'),
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+ DeclareLaunchArgument('params_file',default_value=nav2_param_path,description='Full path to param file to load'),
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+
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+ IncludeLaunchDescription(
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+ PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
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+ launch_arguments={
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+ 'map': map_yaml_path,
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+ 'use_sim_time': use_sim_time,
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+ 'params_file': nav2_param_path}.items(),
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+ ),
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+ Node(
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+ package='rviz2',
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+ executable='rviz2',
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+ name='rviz2',
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+ arguments=['-d', rviz_config_dir],
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+ parameters=[{'use_sim_time': use_sim_time}],
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+ output='screen'),
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+ ])
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+
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+```
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+
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+2.CMakeLists.txt
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+
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+```
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+cmake_minimum_required(VERSION 3.5)
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+project(fishbot_navigation2)
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+
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+# Default to C99
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+if(NOT CMAKE_C_STANDARD)
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+ set(CMAKE_C_STANDARD 99)
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+endif()
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+
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+# Default to C++14
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+if(NOT CMAKE_CXX_STANDARD)
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+ set(CMAKE_CXX_STANDARD 14)
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+endif()
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+
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+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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+ add_compile_options(-Wall -Wextra -Wpedantic)
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+endif()
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+
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+# find dependencies
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+find_package(ament_cmake REQUIRED)
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+# uncomment the following section in order to fill in
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+# further dependencies manually.
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+# find_package(<dependency> REQUIRED)
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+
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+
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+
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+if(BUILD_TESTING)
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+ find_package(ament_lint_auto REQUIRED)
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+ # the following line skips the linter which checks for copyrights
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+ # uncomment the line when a copyright and license is not present in all source files
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+ #set(ament_cmake_copyright_FOUND TRUE)
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+ # the following line skips cpplint (only works in a git repo)
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+ # uncomment the line when this package is not in a git repo
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+ #set(ament_cmake_cpplint_FOUND TRUE)
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+ ament_lint_auto_find_test_dependencies()
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+endif()
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+
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+install(
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+ DIRECTORY launch config param maps
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+ DESTINATION share/${PROJECT_NAME}
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+)
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+
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+ament_package()
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+
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+```
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+
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+3.
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+
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--------------
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技术交流&&问题求助：
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sangxin