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-dit",[34,100,55],{"class":51},[34,102,104,107],{"class":36,"line":103},6,[34,105,106],{"class":51},"  --privileged",[34,108,55],{"class":51},[34,110,112,115],{"class":36,"line":111},7,[34,113,114],{"class":51},"  --net=host",[34,116,55],{"class":51},[34,118,120,123,126],{"class":36,"line":119},8,[34,121,122],{"class":51},"  --group-add",[34,124,125],{"class":44}," audio",[34,127,55],{"class":51},[34,129,131,133,136],{"class":36,"line":130},9,[34,132,122],{"class":51},[34,134,135],{"class":44}," video",[34,137,55],{"class":51},[34,139,141,143,146],{"class":36,"line":140},10,[34,142,122],{"class":51},[34,144,145],{"class":44}," dialout",[34,147,55],{"class":51},[34,149,151,153,156,159,162],{"class":36,"line":150},11,[34,152,72],{"class":51},[34,154,155],{"class":44}," XAUTHORITY=",[34,157,158],{"class":88},"$HOME",[34,160,161],{"class":44},"\u002F.Xauthority",[34,163,55],{"class":51},[34,165,167,169,172,175],{"class":36,"line":166},12,[34,168,72],{"class":51},[34,170,171],{"class":44}," WAYLAND_DISPLAY=",[34,173,174],{"class":88},"$WAYLAND_DISPLAY ",[34,176,92],{"class":51},[34,178,180,182,185,188],{"class":36,"line":179},13,[34,181,72],{"class":51},[34,183,184],{"class":44}," XDG_RUNTIME_DIR=",[34,186,187],{"class":88},"$XDG_RUNTIME_DIR ",[34,189,92],{"class":51},[34,191,193,195,198],{"class":36,"line":192},14,[34,194,72],{"class":51},[34,196,197],{"class":44}," QT_QPA_PLATFORM=xcb",[34,199,55],{"class":51},[34,201,203,206,209],{"class":36,"line":202},15,[34,204,205],{"class":51},"  -v",[34,207,208],{"class":44}," \u002Ftmp\u002F.X11-unix:\u002Ftmp\u002F.X11-unix:rw",[34,210,55],{"class":51},[34,212,214,216,219],{"class":36,"line":213},16,[34,215,205],{"class":51},[34,217,218],{"class":44}," \u002Fdev:\u002Fdev",[34,220,55],{"class":51},[34,222,224,226,229,232,234,237],{"class":36,"line":223},17,[34,225,205],{"class":51},[34,227,228],{"class":88}," $HOME",[34,230,231],{"class":44},"\u002F.Xauthority:",[34,233,158],{"class":88},[34,235,236],{"class":44},"\u002F.Xauthority:ro",[34,238,55],{"class":51},[34,240,242,244,247,250,253,256,259,262,264,266,268,270,273],{"class":36,"line":241},18,[34,243,205],{"class":51},[34,245,246],{"class":44}," \u002Frun\u002Fuser\u002F",[34,248,249],{"class":88},"$(",[34,251,252],{"class":40},"id",[34,254,255],{"class":51}," 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-w",[34,326,327],{"class":88}," $HOME ",[34,329,92],{"class":51},[34,331,333],{"class":36,"line":332},22,[34,334,335],{"class":44},"  tungchiahui\u002Fysu-ros:humble-jammy\n",[15,337,339],{"id":338},"ysu克隆配置环境","YSU克隆配置环境",[20,341,342],{},"克隆代码：",[24,344,346],{"className":26,"code":345,"language":28,"meta":29,"style":29},"git clone https:\u002F\u002Fgithub.com\u002Ftungchiahui\u002Fysu2026_rm_sentry.git\n",[31,347,348],{"__ignoreMap":29},[34,349,350,353,356],{"class":36,"line":37},[34,351,352],{"class":40},"git",[34,354,355],{"class":44}," clone",[34,357,358],{"class":44}," https:\u002F\u002Fgithub.com\u002Ftungchiahui\u002Fysu2026_rm_sentry.git\n",[20,360,361,362,313],{},"安装",[31,363,364],{},"small_gicp",[24,366,368],{"className":26,"code":367,"language":28,"meta":29,"style":29},"sudo apt install -y libeigen3-dev libomp-dev\n\ngit clone https:\u002F\u002Fgithub.com\u002Fkoide3\u002Fsmall_gicp.git\ncd small_gicp\nmkdir build && cd build\ncmake .. -DCMAKE_BUILD_TYPE=Release && make -j\nsudo make install\n",[31,369,370,389,395,404,412,428,447],{"__ignoreMap":29},[34,371,372,374,377,380,383,386],{"class":36,"line":37},[34,373,41],{"class":40},[34,375,376],{"class":44}," apt",[34,378,379],{"class":44}," install",[34,381,382],{"class":51}," -y",[34,384,385],{"class":44}," libeigen3-dev",[34,387,388],{"class":44}," libomp-dev\n",[34,390,391],{"class":36,"line":58},[34,392,394],{"emptyLinePlaceholder":393},true,"\n",[34,396,397,399,401],{"class":36,"line":69},[34,398,352],{"class":40},[34,400,355],{"class":44},[34,402,403],{"class":44}," https:\u002F\u002Fgithub.com\u002Fkoide3\u002Fsmall_gicp.git\n",[34,405,406,409],{"class":36,"line":80},[34,407,408],{"class":51},"cd",[34,410,411],{"class":44}," small_gicp\n",[34,413,414,417,420,423,425],{"class":36,"line":95},[34,415,416],{"class":40},"mkdir",[34,418,419],{"class":44}," build",[34,421,422],{"class":88}," && ",[34,424,408],{"class":51},[34,426,427],{"class":44}," build\n",[34,429,430,433,436,439,441,444],{"class":36,"line":103},[34,431,432],{"class":40},"cmake",[34,434,435],{"class":44}," ..",[34,437,438],{"class":51}," -DCMAKE_BUILD_TYPE=Release",[34,440,422],{"class":88},[34,442,443],{"class":40},"make",[34,445,446],{"class":51}," -j\n",[34,448,449,451,454],{"class":36,"line":111},[34,450,41],{"class":40},[34,452,453],{"class":44}," make",[34,455,456],{"class":44}," install\n",[20,458,459],{},"安装xmacro和vcstool2：",[24,461,463],{"className":26,"code":462,"language":28,"meta":29,"style":29},"sudo apt install python3-pip python3-vcstool\npip install xmacro\n",[31,464,465,479],{"__ignoreMap":29},[34,466,467,469,471,473,476],{"class":36,"line":37},[34,468,41],{"class":40},[34,470,376],{"class":44},[34,472,379],{"class":44},[34,474,475],{"class":44}," python3-pip",[34,477,478],{"class":44}," python3-vcstool\n",[34,480,481,484,486],{"class":36,"line":58},[34,482,483],{"class":40},"pip",[34,485,379],{"class":44},[34,487,488],{"class":44}," xmacro\n",[20,490,491],{},"安装依赖：",[24,493,495],{"className":26,"code":494,"language":28,"meta":29,"style":29},"cd .\u002Fysu2026_rm_sentry\n\nsudo apt update\nrosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y\n",[31,496,497,504,508,517],{"__ignoreMap":29},[34,498,499,501],{"class":36,"line":37},[34,500,408],{"class":51},[34,502,503],{"class":44}," .\u002Fysu2026_rm_sentry\n",[34,505,506],{"class":36,"line":58},[34,507,394],{"emptyLinePlaceholder":393},[34,509,510,512,514],{"class":36,"line":69},[34,511,41],{"class":40},[34,513,376],{"class":44},[34,515,516],{"class":44}," update\n",[34,518,519,522,524,527,530,533,536,539,542],{"class":36,"line":80},[34,520,521],{"class":40},"rosdep",[34,523,379],{"class":44},[34,525,526],{"class":51}," -r",[34,528,529],{"class":51}," --from-paths",[34,531,532],{"class":44}," src",[34,534,535],{"class":51}," --ignore-src",[34,537,538],{"class":51}," --rosdistro",[34,540,541],{"class":88}," $ROS_DISTRO ",[34,543,544],{"class":51},"-y\n",[24,546,548],{"className":26,"code":547,"language":28,"meta":29,"style":29},"colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release\n",[31,549,550],{"__ignoreMap":29},[34,551,552,555,557,560,563],{"class":36,"line":37},[34,553,554],{"class":40},"colcon",[34,556,419],{"class":44},[34,558,559],{"class":51}," --symlink-install",[34,561,562],{"class":51}," --cmake-args",[34,564,565],{"class":51}," -DCMAKE_BUILD_TYPE=Release\n",[15,567,569],{"id":568},"slam建图","SLAM（建图）",[571,572,573],"h4",{"id":573},"仿真测试",[24,575,577],{"className":26,"code":576,"language":28,"meta":29,"style":29},"# 手柄\nsource install\u002Fsetup.bash\nros2 launch joy_bringup joy_controller_sim.launch.py\n\n# 键盘\n## 控制机器人移动\nsource install\u002Fsetup.bash\nros2 run rmoss_gz_base test_chassis_cmd.py --ros-args -r __ns:=\u002Fred_standard_robot1\u002Frobot_base -p v:=0.3 -p w:=0.3\n\n## 机器人云台\nros2 run rmoss_gz_base test_gimbal_cmd.py --ros-args -r __ns:=\u002Fred_standard_robot1\u002Frobot_base\n\n## 机器人射击\nros2 run rmoss_gz_base test_shoot_cmd.py --ros-args -r __ns:=\u002Fred_standard_robot1\u002Frobot_base\n",[31,578,579,585,593,607,611,616,621,627,664,668,673,691,695,700],{"__ignoreMap":29},[34,580,581],{"class":36,"line":37},[34,582,584],{"class":583},"sJ8bj","# 手柄\n",[34,586,587,590],{"class":36,"line":58},[34,588,589],{"class":51},"source",[34,591,592],{"class":44}," install\u002Fsetup.bash\n",[34,594,595,598,601,604],{"class":36,"line":69},[34,596,597],{"class":40},"ros2",[34,599,600],{"class":44}," launch",[34,602,603],{"class":44}," joy_bringup",[34,605,606],{"class":44}," joy_controller_sim.launch.py\n",[34,608,609],{"class":36,"line":80},[34,610,394],{"emptyLinePlaceholder":393},[34,612,613],{"class":36,"line":95},[34,614,615],{"class":583},"# 键盘\n",[34,617,618],{"class":36,"line":103},[34,619,620],{"class":583},"## 控制机器人移动\n",[34,622,623,625],{"class":36,"line":111},[34,624,589],{"class":51},[34,626,592],{"class":44},[34,628,629,631,633,636,639,642,644,647,650,653,656,658,661],{"class":36,"line":119},[34,630,597],{"class":40},[34,632,48],{"class":44},[34,634,635],{"class":44}," rmoss_gz_base",[34,637,638],{"class":44}," test_chassis_cmd.py",[34,640,641],{"class":51}," --ros-args",[34,643,526],{"class":51},[34,645,646],{"class":44}," __ns:=\u002Fred_standard_robot1\u002Frobot_base",[34,648,649],{"class":51}," -p",[34,651,652],{"class":44}," v:=",[34,654,655],{"class":51},"0.3",[34,657,649],{"class":51},[34,659,660],{"class":44}," w:=",[34,662,663],{"class":51},"0.3\n",[34,665,666],{"class":36,"line":130},[34,667,394],{"emptyLinePlaceholder":393},[34,669,670],{"class":36,"line":140},[34,671,672],{"class":583},"## 机器人云台\n",[34,674,675,677,679,681,684,686,688],{"class":36,"line":150},[34,676,597],{"class":40},[34,678,48],{"class":44},[34,680,635],{"class":44},[34,682,683],{"class":44}," test_gimbal_cmd.py",[34,685,641],{"class":51},[34,687,526],{"class":51},[34,689,690],{"class":44}," __ns:=\u002Fred_standard_robot1\u002Frobot_base\n",[34,692,693],{"class":36,"line":166},[34,694,394],{"emptyLinePlaceholder":393},[34,696,697],{"class":36,"line":179},[34,698,699],{"class":583},"## 机器人射击\n",[34,701,702,704,706,708,711,713,715],{"class":36,"line":192},[34,703,597],{"class":40},[34,705,48],{"class":44},[34,707,635],{"class":44},[34,709,710],{"class":44}," test_shoot_cmd.py",[34,712,641],{"class":51},[34,714,526],{"class":51},[34,716,690],{"class":44},[24,718,720],{"className":26,"code":719,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch rmu_gazebo_simulator bringup_sim.launch.py\n",[31,721,722,728],{"__ignoreMap":29},[34,723,724,726],{"class":36,"line":37},[34,725,589],{"class":51},[34,727,592],{"class":44},[34,729,730,732,734,737],{"class":36,"line":58},[34,731,597],{"class":40},[34,733,600],{"class":44},[34,735,736],{"class":44}," rmu_gazebo_simulator",[34,738,739],{"class":44}," bringup_sim.launch.py\n",[24,741,743],{"className":26,"code":742,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_simulation_launch.py \\\n  use_sim_time:=True \\\n  use_joy:=False \\\n  slam:=True\n",[31,744,745,751,765,772,779],{"__ignoreMap":29},[34,746,747,749],{"class":36,"line":37},[34,748,589],{"class":51},[34,750,592],{"class":44},[34,752,753,755,757,760,763],{"class":36,"line":58},[34,754,597],{"class":40},[34,756,600],{"class":44},[34,758,759],{"class":44}," pb2025_nav_bringup",[34,761,762],{"class":44}," rm_navigation_simulation_launch.py",[34,764,55],{"class":51},[34,766,767,770],{"class":36,"line":69},[34,768,769],{"class":44},"  use_sim_time:=True",[34,771,55],{"class":51},[34,773,774,777],{"class":36,"line":80},[34,775,776],{"class":44},"  use_joy:=False",[34,778,55],{"class":51},[34,780,781],{"class":36,"line":95},[34,782,783],{"class":44},"  slam:=True\n",[571,785,786],{"id":786},"实物测试",[24,788,790],{"className":26,"code":789,"language":28,"meta":29,"style":29},"# 手柄\nsource install\u002Fsetup.bash\nros2 launch joy_bringup joy_controller.launch.py\n\n# 键盘\nsource install\u002Fsetup.bash\nros2 run teleop_twist_keyboard teleop_twist_keyboard\n",[31,791,792,796,802,813,817,821,827],{"__ignoreMap":29},[34,793,794],{"class":36,"line":37},[34,795,584],{"class":583},[34,797,798,800],{"class":36,"line":58},[34,799,589],{"class":51},[34,801,592],{"class":44},[34,803,804,806,808,810],{"class":36,"line":69},[34,805,597],{"class":40},[34,807,600],{"class":44},[34,809,603],{"class":44},[34,811,812],{"class":44}," joy_controller.launch.py\n",[34,814,815],{"class":36,"line":80},[34,816,394],{"emptyLinePlaceholder":393},[34,818,819],{"class":36,"line":95},[34,820,615],{"class":583},[34,822,823,825],{"class":36,"line":103},[34,824,589],{"class":51},[34,826,592],{"class":44},[34,828,829,831,833,836],{"class":36,"line":111},[34,830,597],{"class":40},[34,832,48],{"class":44},[34,834,835],{"class":44}," teleop_twist_keyboard",[34,837,838],{"class":44}," teleop_twist_keyboard\n",[24,840,842],{"className":26,"code":841,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch serial_comm serial_comm.launch.py\n",[31,843,844,850],{"__ignoreMap":29},[34,845,846,848],{"class":36,"line":37},[34,847,589],{"class":51},[34,849,592],{"class":44},[34,851,852,854,856,859],{"class":36,"line":58},[34,853,597],{"class":40},[34,855,600],{"class":44},[34,857,858],{"class":44}," serial_comm",[34,860,861],{"class":44}," serial_comm.launch.py\n",[24,863,865],{"className":26,"code":864,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_reality_launch.py \\\n  use_sim_time:=False \\\n  use_joy:=False \\\n  use_robot_state_pub:=True \\\n  slam:=True \\\n  use_rviz:=False\n",[31,866,867,873,886,893,899,906,913],{"__ignoreMap":29},[34,868,869,871],{"class":36,"line":37},[34,870,589],{"class":51},[34,872,592],{"class":44},[34,874,875,877,879,881,884],{"class":36,"line":58},[34,876,597],{"class":40},[34,878,600],{"class":44},[34,880,759],{"class":44},[34,882,883],{"class":44}," rm_navigation_reality_launch.py",[34,885,55],{"class":51},[34,887,888,891],{"class":36,"line":69},[34,889,890],{"class":44},"  use_sim_time:=False",[34,892,55],{"class":51},[34,894,895,897],{"class":36,"line":80},[34,896,776],{"class":44},[34,898,55],{"class":51},[34,900,901,904],{"class":36,"line":95},[34,902,903],{"class":44},"  use_robot_state_pub:=True",[34,905,55],{"class":51},[34,907,908,911],{"class":36,"line":103},[34,909,910],{"class":44},"  slam:=True",[34,912,55],{"class":51},[34,914,915],{"class":36,"line":111},[34,916,917],{"class":44},"  use_rviz:=False\n",[15,919,921],{"id":920},"导航开small_gicp","导航(开small_gicp)",[571,923,924],{"id":924},"仿真",[24,926,927],{"className":26,"code":719,"language":28,"meta":29,"style":29},[31,928,929,935],{"__ignoreMap":29},[34,930,931,933],{"class":36,"line":37},[34,932,589],{"class":51},[34,934,592],{"class":44},[34,936,937,939,941,943],{"class":36,"line":58},[34,938,597],{"class":40},[34,940,600],{"class":44},[34,942,736],{"class":44},[34,944,739],{"class":44},[24,946,948],{"className":26,"code":947,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_simulation_launch.py \\\nuse_sim_time:=True \\\nuse_joy:=False \\\nslam:=False \\\nworld:=rmuc_2025\n",[31,949,950,956,968,975,982,989],{"__ignoreMap":29},[34,951,952,954],{"class":36,"line":37},[34,953,589],{"class":51},[34,955,592],{"class":44},[34,957,958,960,962,964,966],{"class":36,"line":58},[34,959,597],{"class":40},[34,961,600],{"class":44},[34,963,759],{"class":44},[34,965,762],{"class":44},[34,967,55],{"class":51},[34,969,970,973],{"class":36,"line":69},[34,971,972],{"class":88},"use_sim_time:=True ",[34,974,92],{"class":51},[34,976,977,980],{"class":36,"line":80},[34,978,979],{"class":88},"use_joy:=False ",[34,981,92],{"class":51},[34,983,984,987],{"class":36,"line":95},[34,985,986],{"class":88},"slam:=False ",[34,988,92],{"class":51},[34,990,991],{"class":36,"line":103},[34,992,993],{"class":88},"world:=rmuc_2025\n",[571,995,996],{"id":996},"实物",[24,998,999],{"className":26,"code":841,"language":28,"meta":29,"style":29},[31,1000,1001,1007],{"__ignoreMap":29},[34,1002,1003,1005],{"class":36,"line":37},[34,1004,589],{"class":51},[34,1006,592],{"class":44},[34,1008,1009,1011,1013,1015],{"class":36,"line":58},[34,1010,597],{"class":40},[34,1012,600],{"class":44},[34,1014,858],{"class":44},[34,1016,861],{"class":44},[24,1018,1020],{"className":26,"code":1019,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_reality_launch.py \\\n  use_sim_time:=False \\\n  use_joy:=False \\\n  use_robot_state_pub:=True \\\n  use_rviz:=False \\\n  slam:=False \\\n  world:=map_name\n",[31,1021,1022,1028,1040,1046,1052,1058,1065,1072],{"__ignoreMap":29},[34,1023,1024,1026],{"class":36,"line":37},[34,1025,589],{"class":51},[34,1027,592],{"class":44},[34,1029,1030,1032,1034,1036,1038],{"class":36,"line":58},[34,1031,597],{"class":40},[34,1033,600],{"class":44},[34,1035,759],{"class":44},[34,1037,883],{"class":44},[34,1039,55],{"class":51},[34,1041,1042,1044],{"class":36,"line":69},[34,1043,890],{"class":44},[34,1045,55],{"class":51},[34,1047,1048,1050],{"class":36,"line":80},[34,1049,776],{"class":44},[34,1051,55],{"class":51},[34,1053,1054,1056],{"class":36,"line":95},[34,1055,903],{"class":44},[34,1057,55],{"class":51},[34,1059,1060,1063],{"class":36,"line":103},[34,1061,1062],{"class":44},"  use_rviz:=False",[34,1064,55],{"class":51},[34,1066,1067,1070],{"class":36,"line":111},[34,1068,1069],{"class":44},"  slam:=False",[34,1071,55],{"class":51},[34,1073,1074],{"class":36,"line":119},[34,1075,1076],{"class":44},"  world:=map_name\n",[15,1078,1080],{"id":1079},"导航关small_gicp且静态发布map到odom","导航(关small_gicp且静态发布map到odom)",[571,1082,924],{"id":1083},"仿真-1",[24,1085,1086],{"className":26,"code":719,"language":28,"meta":29,"style":29},[31,1087,1088,1094],{"__ignoreMap":29},[34,1089,1090,1092],{"class":36,"line":37},[34,1091,589],{"class":51},[34,1093,592],{"class":44},[34,1095,1096,1098,1100,1102],{"class":36,"line":58},[34,1097,597],{"class":40},[34,1099,600],{"class":44},[34,1101,736],{"class":44},[34,1103,739],{"class":44},[24,1105,1107],{"className":26,"code":1106,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_simulation_static_launch.py \\\nuse_sim_time:=False \\\nuse_joy:=False \\\nslam:=False \\\nworld:=rmuc_2025\n",[31,1108,1109,1115,1128,1135,1141,1147],{"__ignoreMap":29},[34,1110,1111,1113],{"class":36,"line":37},[34,1112,589],{"class":51},[34,1114,592],{"class":44},[34,1116,1117,1119,1121,1123,1126],{"class":36,"line":58},[34,1118,597],{"class":40},[34,1120,600],{"class":44},[34,1122,759],{"class":44},[34,1124,1125],{"class":44}," rm_navigation_simulation_static_launch.py",[34,1127,55],{"class":51},[34,1129,1130,1133],{"class":36,"line":69},[34,1131,1132],{"class":88},"use_sim_time:=False ",[34,1134,92],{"class":51},[34,1136,1137,1139],{"class":36,"line":80},[34,1138,979],{"class":88},[34,1140,92],{"class":51},[34,1142,1143,1145],{"class":36,"line":95},[34,1144,986],{"class":88},[34,1146,92],{"class":51},[34,1148,1149],{"class":36,"line":103},[34,1150,993],{"class":88},[571,1152,996],{"id":1153},"实物-1",[24,1155,1156],{"className":26,"code":841,"language":28,"meta":29,"style":29},[31,1157,1158,1164],{"__ignoreMap":29},[34,1159,1160,1162],{"class":36,"line":37},[34,1161,589],{"class":51},[34,1163,592],{"class":44},[34,1165,1166,1168,1170,1172],{"class":36,"line":58},[34,1167,597],{"class":40},[34,1169,600],{"class":44},[34,1171,858],{"class":44},[34,1173,861],{"class":44},[24,1175,1177],{"className":26,"code":1176,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_reality_static_launch.py \\\n  use_sim_time:=False \\\n  use_joy:=False \\\n  use_robot_state_pub:=True \\\n  use_rviz:=False \\\n  slam:=False \\\n  world:=map_name\n",[31,1178,1179,1185,1198,1204,1210,1216,1222,1228],{"__ignoreMap":29},[34,1180,1181,1183],{"class":36,"line":37},[34,1182,589],{"class":51},[34,1184,592],{"class":44},[34,1186,1187,1189,1191,1193,1196],{"class":36,"line":58},[34,1188,597],{"class":40},[34,1190,600],{"class":44},[34,1192,759],{"class":44},[34,1194,1195],{"class":44}," rm_navigation_reality_static_launch.py",[34,1197,55],{"class":51},[34,1199,1200,1202],{"class":36,"line":69},[34,1201,890],{"class":44},[34,1203,55],{"class":51},[34,1205,1206,1208],{"class":36,"line":80},[34,1207,776],{"class":44},[34,1209,55],{"class":51},[34,1211,1212,1214],{"class":36,"line":95},[34,1213,903],{"class":44},[34,1215,55],{"class":51},[34,1217,1218,1220],{"class":36,"line":103},[34,1219,1062],{"class":44},[34,1221,55],{"class":51},[34,1223,1224,1226],{"class":36,"line":111},[34,1225,1069],{"class":44},[34,1227,55],{"class":51},[34,1229,1230],{"class":36,"line":119},[34,1231,1076],{"class":44},[15,1233,1235],{"id":1234},"启动rviz2","启动Rviz2",[24,1237,1239],{"className":26,"code":1238,"language":28,"meta":29,"style":29},"rviz2 -d .\u002Fsrc\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Frviz\u002Fnav2_default_view.rviz\n",[31,1240,1241],{"__ignoreMap":29},[34,1242,1243,1246,1249],{"class":36,"line":37},[34,1244,1245],{"class":40},"rviz2",[34,1247,1248],{"class":51}," -d",[34,1250,1251],{"class":44}," .\u002Fsrc\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Frviz\u002Fnav2_default_view.rviz\n",[15,1253,1254],{"id":1254},"地图相关操作",[571,1256,1258],{"id":1257},"_2d栅格","2D栅格",[20,1260,1261],{},"保存地图：",[24,1263,1265],{"className":26,"code":1264,"language":28,"meta":29,"style":29},"ros2 run nav2_map_server map_saver_cli \\\n  -f src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fmap\u002Fstaging\u002Ftest_$(date +%Y%m%d_%H%M%S)\n",[31,1266,1267,1281],{"__ignoreMap":29},[34,1268,1269,1271,1273,1276,1279],{"class":36,"line":37},[34,1270,597],{"class":40},[34,1272,48],{"class":44},[34,1274,1275],{"class":44}," nav2_map_server",[34,1277,1278],{"class":44}," map_saver_cli",[34,1280,55],{"class":51},[34,1282,1283,1286,1289,1291,1294,1297],{"class":36,"line":58},[34,1284,1285],{"class":51},"  -f",[34,1287,1288],{"class":44}," src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fmap\u002Fstaging\u002Ftest_",[34,1290,249],{"class":88},[34,1292,1293],{"class":40},"date",[34,1295,1296],{"class":44}," +%Y%m%d_%H%M%S",[34,1298,1299],{"class":88},")\n",[20,1301,1302],{},"测试读取地图：",[20,1304,1305],{},[1306,1307,1308],"strong",{},"在工作空间下运行：",[24,1310,1312],{"className":26,"code":1311,"language":28,"meta":29,"style":29},"source install\u002Fsetup.bash\nros2 launch map_server map_server.launch.py \\\n  map:=src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fmap\u002Fstaging\u002Fmap_name.yaml\n",[31,1313,1314,1320,1334],{"__ignoreMap":29},[34,1315,1316,1318],{"class":36,"line":37},[34,1317,589],{"class":51},[34,1319,592],{"class":44},[34,1321,1322,1324,1326,1329,1332],{"class":36,"line":58},[34,1323,597],{"class":40},[34,1325,600],{"class":44},[34,1327,1328],{"class":44}," map_server",[34,1330,1331],{"class":44}," map_server.launch.py",[34,1333,55],{"class":51},[34,1335,1336],{"class":36,"line":69},[34,1337,1338],{"class":44},"  map:=src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fmap\u002Fstaging\u002Fmap_name.yaml\n",[571,1340,1341],{"id":1341},"点云pcd",[24,1343,1345],{"className":26,"code":1344,"language":28,"meta":29,"style":29},"cp -i \\\n  src\u002Fpb2025_sentry_nav\u002Fpoint_lio\u002FPCD\u002Fscans.pcd \\\n  src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Ftest_$(date +%Y%m%d_%H%M%S).pcd\n",[31,1346,1347,1357,1364],{"__ignoreMap":29},[34,1348,1349,1352,1355],{"class":36,"line":37},[34,1350,1351],{"class":40},"cp",[34,1353,1354],{"class":51}," -i",[34,1356,55],{"class":51},[34,1358,1359,1362],{"class":36,"line":58},[34,1360,1361],{"class":44},"  src\u002Fpb2025_sentry_nav\u002Fpoint_lio\u002FPCD\u002Fscans.pcd",[34,1363,55],{"class":51},[34,1365,1366,1369,1371,1373,1375,1377],{"class":36,"line":69},[34,1367,1368],{"class":44},"  src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Ftest_",[34,1370,249],{"class":88},[34,1372,1293],{"class":40},[34,1374,1296],{"class":44},[34,1376,258],{"class":88},[34,1378,1379],{"class":44},".pcd\n",[20,1381,1382],{},"快速读取点云：",[20,1384,1385],{},[1306,1386,1308],{},[24,1388,1390],{"className":26,"code":1389,"language":28,"meta":29,"style":29},"pcl_viewer -bc 255,255,255 src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Fmap_name.pcd\n",[31,1391,1392],{"__ignoreMap":29},[34,1393,1394,1397,1400,1403],{"class":36,"line":37},[34,1395,1396],{"class":40},"pcl_viewer",[34,1398,1399],{"class":51}," -bc",[34,1401,1402],{"class":44}," 255,255,255",[34,1404,1405],{"class":44}," src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Fmap_name.pcd\n",[20,1407,1408,1409,1412],{},"把PCD临时读取为",[31,1410,1411],{},"PointCloud2","（可用于测试以下问题）：",[1414,1415,1416,1420,1423],"ul",{},[1417,1418,1419],"li",{},"PCD 和机器人 TF 是否对齐",[1417,1421,1422],{},"PCD 和二维 map 是否重合",[1417,1424,1425],{},"PCD 的 frame 是否正确",[24,1427,1429],{"className":26,"code":1428,"language":28,"meta":29,"style":29},"ros2 run pcl_ros pcd_to_pointcloud --ros-args \\\n  -p tf_frame:=camera_init \\\n  -p publishing_period_ms:=1000 \\\n  -r cloud_pcd:=cloud_pcd \\\n  -p file_name:=src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Fmap_name.pcd\n",[31,1430,1431,1447,1457,1469,1479],{"__ignoreMap":29},[34,1432,1433,1435,1437,1440,1443,1445],{"class":36,"line":37},[34,1434,597],{"class":40},[34,1436,48],{"class":44},[34,1438,1439],{"class":44}," pcl_ros",[34,1441,1442],{"class":44}," pcd_to_pointcloud",[34,1444,641],{"class":51},[34,1446,55],{"class":51},[34,1448,1449,1452,1455],{"class":36,"line":58},[34,1450,1451],{"class":51},"  -p",[34,1453,1454],{"class":44}," tf_frame:=camera_init",[34,1456,55],{"class":51},[34,1458,1459,1461,1464,1467],{"class":36,"line":69},[34,1460,1451],{"class":51},[34,1462,1463],{"class":44}," publishing_period_ms:=",[34,1465,1466],{"class":51},"1000",[34,1468,55],{"class":51},[34,1470,1471,1474,1477],{"class":36,"line":80},[34,1472,1473],{"class":51},"  -r",[34,1475,1476],{"class":44}," cloud_pcd:=cloud_pcd",[34,1478,55],{"class":51},[34,1480,1481,1483],{"class":36,"line":95},[34,1482,1451],{"class":51},[34,1484,1485],{"class":44}," file_name:=src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002Fpcd\u002Fstaging\u002Fmap_name.pcd\n",[20,1487,1488,1491,1492],{},[31,1489,1490],{},"-r cloud_pcd","参数不填的话，默认也是",[31,1493,1494],{},"cloud_pcd",[20,1496,1497],{},"在rviz2里：",[1414,1499,1500,1503],{},[1417,1501,1502],{},"Fixed Frame:camera_init",[1417,1504,1505],{},"Add → PointCloud2 → Topic = \u002Fcloud_pcd",[1507,1508,1509],"style",{},"html pre.shiki code .sScJk, html code.shiki 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