d2l-ros2/docs/chapt10/10.9使用Fishbot进行自主导航.md

10.9使用FishBot进行自主导航

1.编写launch文件

'''
作者: 小鱼
公众号: 鱼香ROS
QQ交流群: 2642868461
描述: file content
'''
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node



def generate_launch_description():
    fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')

    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','fishbot_map.yaml'))
    nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','fishbot.yaml'))

    rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')

    return LaunchDescription([
        DeclareLaunchArgument('use_sim_time',default_value=use_sim_time,description='Use simulation (Gazebo) clock if true'),
        DeclareLaunchArgument('map',default_value=map_yaml_path,description='Full path to map file to load'),
        DeclareLaunchArgument('params_file',default_value=nav2_param_path,description='Full path to param file to load'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        ),
        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])

2.CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(fishbot_navigation2)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)



if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(
  DIRECTORY launch  config param maps
  DESTINATION share/${PROJECT_NAME}
)

ament_package()

3.

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