[{"data":1,"prerenderedAt":928},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0300-launch-yu-bao-yi-lai-pei-zhi":3,"wiki-doc-items-2026-09-20-dao-hang":691,"wiki:author-members":916},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":87,"chapterOrder":679,"date":680,"description":80,"docKey":681,"docRoot":682,"docTitle":683,"extension":684,"isWikiDoc":117,"isWikiIndex":685,"meta":686,"navigation":117,"path":687,"seo":688,"stem":689,"wikiDepth":87,"__hash__":690},"wiki\u002Fwiki\u002F2026-09-20-导航\u002F0300-0300-Launch与包依赖配置.md","Launch与包依赖配置",[7],"董佳辉",{"type":9,"value":10,"toc":669},"minimark",[11,15,19,69,74,171,174,240,244,311,314,375,379,418,420,450,454,463,487,510,514,533,535,552,555,590,617,659,662,665],[12,13,5],"h2",{"id":14},"launch与包依赖配置",[16,17,18],"p",{},"修改launch重定向到咱们的模型，主要先看下面的launch：",[20,21,22,41,61],"ul",{},[23,24,25,29,30,33],"li",{},[26,27,28],"code",{},"pb2025_nav_bringup","里的",[26,31,32],{},"rm_navigation_reality_launch.py",[20,34,35],{},[23,36,37,38],{},"同功能包下的",[26,39,40],{},"robot_state_publisher_launch.py",[23,42,43,29,46,49],{},[26,44,45],{},"rmu_gazebo_simulator",[26,47,48],{},"bringup_sim.launch.py",[20,50,51,56],{},[23,52,37,53],{},[26,54,55],{},"spawn_robots.launch.py",[23,57,37,58],{},[26,59,60],{},"package.xml",[23,62,63,29,66],{},[26,64,65],{},"robot_description",[26,67,68],{},"robot_description_launch.py",[70,71,73],"h3",{"id":72},"robot_state_publisher_launchpy机器人关节tf发布入口","robot_state_publisher_launch.py（机器人关节TF发布入口）",[75,76,81],"pre",{"className":77,"code":78,"language":79,"meta":80,"style":80},"language-python shiki shiki-themes github-light github-dark","    pkg_pb2025_robot_description_dir = get_package_share_directory(\n        \"pb2025_robot_description\"\n    )\n\n    declare_robot_name_cmd = DeclareLaunchArgument(\n        \"robot_name\",\n        default_value=\"pb2025_sentry_robot\",\n        description=\"The file name of the robot xmacro to be used\",\n    )\n","python","",[26,82,83,99,106,112,119,130,139,153,166],{"__ignoreMap":80},[84,85,88,92,96],"span",{"class":86,"line":87},"line",1,[84,89,91],{"class":90},"sVt8B","    pkg_pb2025_robot_description_dir ",[84,93,95],{"class":94},"szBVR","=",[84,97,98],{"class":90}," get_package_share_directory(\n",[84,100,102],{"class":86,"line":101},2,[84,103,105],{"class":104},"sZZnC","        \"pb2025_robot_description\"\n",[84,107,109],{"class":86,"line":108},3,[84,110,111],{"class":90},"    )\n",[84,113,115],{"class":86,"line":114},4,[84,116,118],{"emptyLinePlaceholder":117},true,"\n",[84,120,122,125,127],{"class":86,"line":121},5,[84,123,124],{"class":90},"    declare_robot_name_cmd ",[84,126,95],{"class":94},[84,128,129],{"class":90}," DeclareLaunchArgument(\n",[84,131,133,136],{"class":86,"line":132},6,[84,134,135],{"class":104},"        \"robot_name\"",[84,137,138],{"class":90},",\n",[84,140,142,146,148,151],{"class":86,"line":141},7,[84,143,145],{"class":144},"s4XuR","        default_value",[84,147,95],{"class":94},[84,149,150],{"class":104},"\"pb2025_sentry_robot\"",[84,152,138],{"class":90},[84,154,156,159,161,164],{"class":86,"line":155},8,[84,157,158],{"class":144},"        description",[84,160,95],{"class":94},[84,162,163],{"class":104},"\"The file name of the robot xmacro to be used\"",[84,165,138],{"class":90},[84,167,169],{"class":86,"line":168},9,[84,170,111],{"class":90},[16,172,173],{},"改成",[75,175,177],{"className":77,"code":176,"language":79,"meta":80,"style":80},"    pkg_robot_description_dir = get_package_share_directory(\n        \"robot_description\"\n    )\n\n    declare_robot_name_cmd = DeclareLaunchArgument(\n        \"robot_name\",\n        default_value=\"reality_robot\",\n        description=\"The file name of the robot xmacro to be used\",\n    )\n",[26,178,179,188,193,197,201,209,215,226,236],{"__ignoreMap":80},[84,180,181,184,186],{"class":86,"line":87},[84,182,183],{"class":90},"    pkg_robot_description_dir ",[84,185,95],{"class":94},[84,187,98],{"class":90},[84,189,190],{"class":86,"line":101},[84,191,192],{"class":104},"        \"robot_description\"\n",[84,194,195],{"class":86,"line":108},[84,196,111],{"class":90},[84,198,199],{"class":86,"line":114},[84,200,118],{"emptyLinePlaceholder":117},[84,202,203,205,207],{"class":86,"line":121},[84,204,124],{"class":90},[84,206,95],{"class":94},[84,208,129],{"class":90},[84,210,211,213],{"class":86,"line":132},[84,212,135],{"class":104},[84,214,138],{"class":90},[84,216,217,219,221,224],{"class":86,"line":141},[84,218,145],{"class":144},[84,220,95],{"class":94},[84,222,223],{"class":104},"\"reality_robot\"",[84,225,138],{"class":90},[84,227,228,230,232,234],{"class":86,"line":155},[84,229,158],{"class":144},[84,231,95],{"class":94},[84,233,163],{"class":104},[84,235,138],{"class":90},[84,237,238],{"class":86,"line":168},[84,239,111],{"class":90},[70,241,243],{"id":242},"spawn_robotslaunchpy生成仿真机器人","spawn_robots.launch.py（生成仿真机器人）",[75,245,247],{"className":77,"code":246,"language":79,"meta":80,"style":80},"    pkg_pb2025_robot_description = get_package_share_directory(\n        \"pb2025_robot_description\"\n    )\n\n    robot_xmacro_path = os.path.join(\n        pkg_pb2025_robot_description,\n        \"resource\",\n        \"xmacro\",\n        \"simulation_robot.sdf.xmacro\",\n    )\n",[26,248,249,258,262,266,270,280,285,292,299,306],{"__ignoreMap":80},[84,250,251,254,256],{"class":86,"line":87},[84,252,253],{"class":90},"    pkg_pb2025_robot_description ",[84,255,95],{"class":94},[84,257,98],{"class":90},[84,259,260],{"class":86,"line":101},[84,261,105],{"class":104},[84,263,264],{"class":86,"line":108},[84,265,111],{"class":90},[84,267,268],{"class":86,"line":114},[84,269,118],{"emptyLinePlaceholder":117},[84,271,272,275,277],{"class":86,"line":121},[84,273,274],{"class":90},"    robot_xmacro_path ",[84,276,95],{"class":94},[84,278,279],{"class":90}," os.path.join(\n",[84,281,282],{"class":86,"line":132},[84,283,284],{"class":90},"        pkg_pb2025_robot_description,\n",[84,286,287,290],{"class":86,"line":141},[84,288,289],{"class":104},"        \"resource\"",[84,291,138],{"class":90},[84,293,294,297],{"class":86,"line":155},[84,295,296],{"class":104},"        \"xmacro\"",[84,298,138],{"class":90},[84,300,301,304],{"class":86,"line":168},[84,302,303],{"class":104},"        \"simulation_robot.sdf.xmacro\"",[84,305,138],{"class":90},[84,307,309],{"class":86,"line":308},10,[84,310,111],{"class":90},[16,312,313],{},"改成：",[75,315,317],{"className":77,"code":316,"language":79,"meta":80,"style":80},"    pkg_robot_description = get_package_share_directory(\n        \"robot_description\"\n    )\n\n    robot_xmacro_path = os.path.join(\n        pkg_robot_description,\n        \"resource\",\n        \"xmacro\",\n        \"simulation_robot.sdf.xmacro\",\n    )\n",[26,318,319,328,332,336,340,348,353,359,365,371],{"__ignoreMap":80},[84,320,321,324,326],{"class":86,"line":87},[84,322,323],{"class":90},"    pkg_robot_description ",[84,325,95],{"class":94},[84,327,98],{"class":90},[84,329,330],{"class":86,"line":101},[84,331,192],{"class":104},[84,333,334],{"class":86,"line":108},[84,335,111],{"class":90},[84,337,338],{"class":86,"line":114},[84,339,118],{"emptyLinePlaceholder":117},[84,341,342,344,346],{"class":86,"line":121},[84,343,274],{"class":90},[84,345,95],{"class":94},[84,347,279],{"class":90},[84,349,350],{"class":86,"line":132},[84,351,352],{"class":90},"        pkg_robot_description,\n",[84,354,355,357],{"class":86,"line":141},[84,356,289],{"class":104},[84,358,138],{"class":90},[84,360,361,363],{"class":86,"line":155},[84,362,296],{"class":104},[84,364,138],{"class":90},[84,366,367,369],{"class":86,"line":168},[84,368,303],{"class":104},[84,370,138],{"class":90},[84,372,373],{"class":86,"line":308},[84,374,111],{"class":90},[70,376,378],{"id":377},"robot_description_launchpy机器人模型加载入口","robot_description_launch.py（机器人模型加载入口）",[75,380,382],{"className":77,"code":381,"language":79,"meta":80,"style":80},"def generate_launch_description():\n    # Get the launch directory\n    bringup_dir = get_package_share_directory(\"pb2025_robot_description\")\n",[26,383,384,396,402],{"__ignoreMap":80},[84,385,386,389,393],{"class":86,"line":87},[84,387,388],{"class":94},"def",[84,390,392],{"class":391},"sScJk"," generate_launch_description",[84,394,395],{"class":90},"():\n",[84,397,398],{"class":86,"line":101},[84,399,401],{"class":400},"sJ8bj","    # Get the launch directory\n",[84,403,404,407,409,412,415],{"class":86,"line":108},[84,405,406],{"class":90},"    bringup_dir ",[84,408,95],{"class":94},[84,410,411],{"class":90}," get_package_share_directory(",[84,413,414],{"class":104},"\"pb2025_robot_description\"",[84,416,417],{"class":90},")\n",[16,419,173],{},[75,421,423],{"className":77,"code":422,"language":79,"meta":80,"style":80},"def generate_launch_description():\n    # Get the launch directory\n    bringup_dir = get_package_share_directory(\"robot_description\")\n",[26,424,425,433,437],{"__ignoreMap":80},[84,426,427,429,431],{"class":86,"line":87},[84,428,388],{"class":94},[84,430,392],{"class":391},[84,432,395],{"class":90},[84,434,435],{"class":86,"line":101},[84,436,401],{"class":400},[84,438,439,441,443,445,448],{"class":86,"line":108},[84,440,406],{"class":90},[84,442,95],{"class":94},[84,444,411],{"class":90},[84,446,447],{"class":104},"\"robot_description\"",[84,449,417],{"class":90},[70,451,453],{"id":452},"pb2025_nav_bringup里的packagexml导航启动包依赖","pb2025_nav_bringup里的package.xml（导航启动包依赖）",[16,455,456,457,459,460,462],{},"这个包的 ",[26,458,40],{}," 会加载 ",[26,461,65],{},"，因此补上运行依赖：",[75,464,468],{"className":465,"code":466,"language":467,"meta":80,"style":80},"language-xml shiki shiki-themes github-light github-dark","\u003Cexec_depend>robot_description\u003C\u002Fexec_depend>\n","xml",[26,469,470],{"__ignoreMap":80},[84,471,472,475,479,482,484],{"class":86,"line":87},[84,473,474],{"class":90},"\u003C",[84,476,478],{"class":477},"s9eBZ","exec_depend",[84,480,481],{"class":90},">robot_description\u003C\u002F",[84,483,478],{"class":477},[84,485,486],{"class":90},">\n",[16,488,489,491,492,495,496,498,499,502,503,505,506,509],{},[26,490,40],{}," 的默认入口为 ",[26,493,494],{},"reality_robot","；描述包自身的 ",[26,497,68],{}," 默认仍为 ",[26,500,501],{},"simulation_robot","。Gazebo 的 ",[26,504,55],{}," 继续加载 ",[26,507,508],{},"simulation_robot.sdf.xmacro","。",[70,511,513],{"id":512},"rmu_gazebo_simulator里的packagexml仿真包依赖","rmu_gazebo_simulator里的package.xml（仿真包依赖）",[75,515,517],{"className":465,"code":516,"language":467,"meta":80,"style":80},"\u003Cdepend>pb2025_robot_description\u003C\u002Fdepend>\n",[26,518,519],{"__ignoreMap":80},[84,520,521,523,526,529,531],{"class":86,"line":87},[84,522,474],{"class":90},[84,524,525],{"class":477},"depend",[84,527,528],{"class":90},">pb2025_robot_description\u003C\u002F",[84,530,525],{"class":477},[84,532,486],{"class":90},[16,534,173],{},[75,536,538],{"className":465,"code":537,"language":467,"meta":80,"style":80},"\u003Cdepend>robot_description\u003C\u002Fdepend>\n",[26,539,540],{"__ignoreMap":80},[84,541,542,544,546,548,550],{"class":86,"line":87},[84,543,474],{"class":90},[84,545,525],{"class":477},[84,547,481],{"class":90},[84,549,525],{"class":477},[84,551,486],{"class":90},[70,553,554],{"id":554},"测试",[75,556,560],{"className":557,"code":558,"language":559,"meta":80,"style":80},"language-bash shiki shiki-themes github-light github-dark","rm -rf build install log\ncolcon build --symlink-install\n","bash",[26,561,562,580],{"__ignoreMap":80},[84,563,564,567,571,574,577],{"class":86,"line":87},[84,565,566],{"class":391},"rm",[84,568,570],{"class":569},"sj4cs"," -rf",[84,572,573],{"class":104}," build",[84,575,576],{"class":104}," install",[84,578,579],{"class":104}," log\n",[84,581,582,585,587],{"class":86,"line":101},[84,583,584],{"class":391},"colcon",[84,586,573],{"class":104},[84,588,589],{"class":569}," --symlink-install\n",[75,591,593],{"className":557,"code":592,"language":559,"meta":80,"style":80},"source install\u002Fsetup.bash\nros2 launch rmu_gazebo_simulator bringup_sim.launch.py\n",[26,594,595,603],{"__ignoreMap":80},[84,596,597,600],{"class":86,"line":87},[84,598,599],{"class":569},"source",[84,601,602],{"class":104}," install\u002Fsetup.bash\n",[84,604,605,608,611,614],{"class":86,"line":101},[84,606,607],{"class":391},"ros2",[84,609,610],{"class":104}," launch",[84,612,613],{"class":104}," rmu_gazebo_simulator",[84,615,616],{"class":104}," bringup_sim.launch.py\n",[75,618,620],{"className":557,"code":619,"language":559,"meta":80,"style":80},"source install\u002Fsetup.bash\n\nros2 launch pb2025_nav_bringup rm_navigation_simulation_launch.py \\\n  world:=rmuc_2025 \\\n  slam:=False\n",[26,621,622,628,632,647,654],{"__ignoreMap":80},[84,623,624,626],{"class":86,"line":87},[84,625,599],{"class":569},[84,627,602],{"class":104},[84,629,630],{"class":86,"line":101},[84,631,118],{"emptyLinePlaceholder":117},[84,633,634,636,638,641,644],{"class":86,"line":108},[84,635,607],{"class":391},[84,637,610],{"class":104},[84,639,640],{"class":104}," pb2025_nav_bringup",[84,642,643],{"class":104}," rm_navigation_simulation_launch.py",[84,645,646],{"class":569}," \\\n",[84,648,649,652],{"class":86,"line":114},[84,650,651],{"class":104},"  world:=rmuc_2025",[84,653,646],{"class":569},[84,655,656],{"class":86,"line":121},[84,657,658],{"class":104},"  slam:=False\n",[16,660,661],{},"测试下Gazebo加载模型还正常不，如果正常则说明没毛病。",[16,663,664],{},"至此全部结束。",[666,667,668],"style",{},"html pre.shiki code .sVt8B, html code.shiki .sVt8B{--shiki-default:#24292E;--shiki-dark:#E1E4E8}html pre.shiki code .szBVR, html code.shiki .szBVR{--shiki-default:#D73A49;--shiki-dark:#F97583}html pre.shiki code .sZZnC, html code.shiki .sZZnC{--shiki-default:#032F62;--shiki-dark:#9ECBFF}html pre.shiki code .s4XuR, html code.shiki .s4XuR{--shiki-default:#E36209;--shiki-dark:#FFAB70}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html pre.shiki code .sJ8bj, html code.shiki .sJ8bj{--shiki-default:#6A737D;--shiki-dark:#6A737D}html pre.shiki code .s9eBZ, html code.shiki .s9eBZ{--shiki-default:#22863A;--shiki-dark:#85E89D}html pre.shiki code .sj4cs, html code.shiki .sj4cs{--shiki-default:#005CC5;--shiki-dark:#79B8FF}",{"title":80,"searchDepth":101,"depth":101,"links":670},[671],{"id":14,"depth":101,"text":5,"children":672},[673,674,675,676,677,678],{"id":72,"depth":108,"text":73},{"id":242,"depth":108,"text":243},{"id":377,"depth":108,"text":378},{"id":452,"depth":108,"text":453},{"id":512,"depth":108,"text":513},{"id":554,"depth":108,"text":554},"0300-0300","2026-09-20","2026-09-20-dao-hang","\u002Fwiki\u002F2026-09-20-dao-hang","导航","md",false,{},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0300-launch-yu-bao-yi-lai-pei-zhi",{"title":5,"description":80},"wiki\u002F2026-09-20-导航\u002F0300-0300-Launch与包依赖配置","smrXf9Wb3IOEkdz7KknMYwqQOW3gSmkJE2ha8nMeoLE",[692,699,705,711,717,719,725,731,737,743,749,755,761,767,773,779,785,791,797,803,809,815,821,827,833,839,845,851,857,863,869,875,881,887,893,899,905,911],{"path":693,"stem":694,"title":695,"authors":696,"date":680,"chapterOrder":697,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0100-jian-jie","wiki\u002F2026-09-20-导航\u002F0100-简介","简介",[7],"0100",0,{"path":700,"stem":701,"title":702,"authors":703,"date":680,"chapterOrder":704,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0200-huan-jing-pei-zhi-yu-yun-xing","wiki\u002F2026-09-20-导航\u002F0200-环境配置与运行","环境配置与运行",[7],"0200",{"path":706,"stem":707,"title":708,"authors":709,"date":680,"chapterOrder":710,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0100-robot-description","wiki\u002F2026-09-20-导航\u002F0300-0100-robot_description","robot_description（机器人模型与关节定义）",[7],"0300-0100",{"path":712,"stem":713,"title":714,"authors":715,"date":680,"chapterOrder":716,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0200-mid360-an-zhuang-wei-zhi","wiki\u002F2026-09-20-导航\u002F0300-0200-MID360安装位置","MID360安装位置",[7],"0300-0200",{"path":687,"stem":689,"title":5,"authors":718,"date":680,"chapterOrder":679,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},[7],{"path":720,"stem":721,"title":722,"authors":723,"date":680,"chapterOrder":724,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0400-fang-zhen-shi-jue-you-hua","wiki\u002F2026-09-20-导航\u002F0300-0400-仿真视觉优化","仿真视觉优化（可选）",[7],"0300-0400",{"path":726,"stem":727,"title":728,"authors":729,"date":680,"chapterOrder":730,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0500-tian-jia-di-tu","wiki\u002F2026-09-20-导航\u002F0300-0500-添加地图","添加地图",[7],"0300-0500",{"path":732,"stem":733,"title":734,"authors":735,"date":680,"chapterOrder":736,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-ji-qi-ren-mo-xing-yu-fang-zhen","wiki\u002F2026-09-20-导航\u002F0300-机器人模型与仿真","机器人模型与仿真",[7],"0300",{"path":738,"stem":739,"title":740,"authors":741,"date":680,"chapterOrder":742,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-0100-linux-yu-mcu-shu-ju-dui-jie","wiki\u002F2026-09-20-导航\u002F0400-0100-Linux与MCU数据对接","Linux与MCU数据对接",[7],"0400-0100",{"path":744,"stem":745,"title":746,"authors":747,"date":680,"chapterOrder":748,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-0200-chuan-kou-tong-xin","wiki\u002F2026-09-20-导航\u002F0400-0200-串口通信","Serial_Comm（串口通信）",[7],"0400-0200",{"path":750,"stem":751,"title":752,"authors":753,"date":680,"chapterOrder":754,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-0300-shou-bing-kong-zhi","wiki\u002F2026-09-20-导航\u002F0400-0300-手柄控制","Joy（手柄控制）",[7],"0400-0300",{"path":756,"stem":757,"title":758,"authors":759,"date":680,"chapterOrder":760,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-0400-mid360-yu-tf-lian-tiao","wiki\u002F2026-09-20-导航\u002F0400-0400-MID360与TF联调","MID360与TF联调",[7],"0400-0400",{"path":762,"stem":763,"title":764,"authors":765,"date":680,"chapterOrder":766,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0400-ying-jian-dui-jie-yu-kong-zhi","wiki\u002F2026-09-20-导航\u002F0400-硬件对接与控制","硬件对接与控制",[7],"0400",{"path":768,"stem":769,"title":770,"authors":771,"date":680,"chapterOrder":772,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0100-point-lio","wiki\u002F2026-09-20-导航\u002F0500-0100-Point_LIO","Point_LIO（激光与IMU融合里程计，建图与定位算法）",[7],"0500-0100",{"path":774,"stem":775,"title":776,"authors":777,"date":680,"chapterOrder":778,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0200-loam-interface","wiki\u002F2026-09-20-导航\u002F0500-0200-loam_interface","loam_interface（Point-LIO输出的坐标与话题适配）",[7],"0500-0200",{"path":780,"stem":781,"title":782,"authors":783,"date":680,"chapterOrder":784,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0300-sensor-scan-generation","wiki\u002F2026-09-20-导航\u002F0500-0300-sensor_scan_generation","sensor_scan_generation（雷达点云换系与底盘、云台位姿转换）",[7],"0500-0300",{"path":786,"stem":787,"title":788,"authors":789,"date":680,"chapterOrder":790,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0400-terrain-analysis","wiki\u002F2026-09-20-导航\u002F0500-0400-terrain_analysis","terrain_analysis（近场地面与障碍高差分析）",[7],"0500-0400",{"path":792,"stem":793,"title":794,"authors":795,"date":680,"chapterOrder":796,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0500-terrain-analysis-ext","wiki\u002F2026-09-20-导航\u002F0500-0500-terrain_analysis_ext","terrain_analysis_ext（扩展远场地形与近远场结果合并）",[7],"0500-0500",{"path":798,"stem":799,"title":800,"authors":801,"date":680,"chapterOrder":802,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0600-fake-vel-transform","wiki\u002F2026-09-20-导航\u002F0500-0600-fake_vel_transform","fake_vel_transform（云台系速度转换与底盘自旋）",[7],"0500-0600",{"path":804,"stem":805,"title":806,"authors":807,"date":680,"chapterOrder":808,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0700-small-gicp-relocalization","wiki\u002F2026-09-20-导航\u002F0500-0700-small_gicp_relocalization","small_gicp_relocalization（先验点云地图重定位）",[7],"0500-0700",{"path":810,"stem":811,"title":812,"authors":813,"date":680,"chapterOrder":814,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0800-pointcloud-to-laserscan","wiki\u002F2026-09-20-导航\u002F0500-0800-pointcloud_to_laserscan","pointcloud_to_laserscan（三维地形点云转二维扫描）",[7],"0500-0800",{"path":816,"stem":817,"title":818,"authors":819,"date":680,"chapterOrder":820,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-0900-slam-toolbox","wiki\u002F2026-09-20-导航\u002F0500-0900-slam_toolbox","slam_toolbox（二维地图生成与轨迹优化）",[7],"0500-0900",{"path":822,"stem":823,"title":824,"authors":825,"date":680,"chapterOrder":826,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1000-bt-navigator","wiki\u002F2026-09-20-导航\u002F0500-1000-bt_navigator","bt_navigator（行为树导航任务调度）",[7],"0500-1000",{"path":828,"stem":829,"title":830,"authors":831,"date":680,"chapterOrder":832,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1100-controller-server","wiki\u002F2026-09-20-导航\u002F0500-1100-controller_server","controller_server（路径跟踪、进度检查与到达判定）",[7],"0500-1100",{"path":834,"stem":835,"title":836,"authors":837,"date":680,"chapterOrder":838,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1200-local-costmap","wiki\u002F2026-09-20-导航\u002F0500-1200-local_costmap","local_costmap（局部障碍代价地图）",[7],"0500-1200",{"path":840,"stem":841,"title":842,"authors":843,"date":680,"chapterOrder":844,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1300-global-costmap","wiki\u002F2026-09-20-导航\u002F0500-1300-global_costmap","global_costmap（全局规划代价地图）",[7],"0500-1300",{"path":846,"stem":847,"title":848,"authors":849,"date":680,"chapterOrder":850,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1400-map-server","wiki\u002F2026-09-20-导航\u002F0500-1400-map_server","map_server（已有二维地图加载与发布）",[7],"0500-1400",{"path":852,"stem":853,"title":854,"authors":855,"date":680,"chapterOrder":856,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1500-map-saver","wiki\u002F2026-09-20-导航\u002F0500-1500-map_saver","map_saver（二维栅格地图保存）",[7],"0500-1500",{"path":858,"stem":859,"title":860,"authors":861,"date":680,"chapterOrder":862,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1600-planner-server","wiki\u002F2026-09-20-导航\u002F0500-1600-planner_server","planner_server（Theta*全局路径规划）",[7],"0500-1600",{"path":864,"stem":865,"title":866,"authors":867,"date":680,"chapterOrder":868,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1700-smoother-server","wiki\u002F2026-09-20-导航\u002F0500-1700-smoother_server","smoother_server（全局路径平滑）",[7],"0500-1700",{"path":870,"stem":871,"title":872,"authors":873,"date":680,"chapterOrder":874,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1800-behavior-server","wiki\u002F2026-09-20-导航\u002F0500-1800-behavior_server","behavior_server（恢复行为与空闲方向移动）",[7],"0500-1800",{"path":876,"stem":877,"title":878,"authors":879,"date":680,"chapterOrder":880,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1900-waypoint-follower","wiki\u002F2026-09-20-导航\u002F0500-1900-waypoint_follower","waypoint_follower（逐点导航与到点等待）",[7],"0500-1900",{"path":882,"stem":883,"title":884,"authors":885,"date":680,"chapterOrder":886,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-2000-velocity-smoother","wiki\u002F2026-09-20-导航\u002F0500-2000-velocity_smoother","velocity_smoother（速度限幅与加减速平滑）",[7],"0500-2000",{"path":888,"stem":889,"title":890,"authors":891,"date":680,"chapterOrder":892,"chapterDepth":87,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-2100-pb-teleop-twist-joy-node","wiki\u002F2026-09-20-导航\u002F0500-2100-pb_teleop_twist_joy_node","pb_teleop_twist_joy_node（手柄输入与可替换控制入口）",[7],"0500-2100",{"path":894,"stem":895,"title":896,"authors":897,"date":680,"chapterOrder":898,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-dao-hang-can-shu","wiki\u002F2026-09-20-导航\u002F0500-导航参数","导航参数",[7],"0500",{"path":900,"stem":901,"title":902,"authors":903,"date":680,"chapterOrder":904,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0600-kai-fa-wen-ti-yu-pai-cha","wiki\u002F2026-09-20-导航\u002F0600-开发问题与排查","开发问题与排查",[7],"0600",{"path":906,"stem":907,"title":908,"authors":909,"date":680,"chapterOrder":910,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":685},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0700-jue-ce","wiki\u002F2026-09-20-导航\u002F0700-决策","决策",[7],"0700",{"path":682,"stem":912,"title":913,"authors":914,"date":680,"chapterOrder":915,"chapterDepth":698,"docKey":681,"docRoot":682,"docTitle":683,"isWikiDoc":117,"isWikiIndex":117},"wiki\u002F2026-09-20-导航\u002Findex","北极熊导航复现日志",[7],null,[917,919,922,925],{"name":7,"image":918},"\u002Fimages\u002Fmember_photo\u002F董佳辉.jpg",{"name":920,"image":921},"宫金良","\u002Fimages\u002Fmember_photo\u002F宫金良.jpg",{"name":923,"image":924},"巩丽","\u002Fimages\u002Fmember_photo\u002F巩丽.png",{"name":926,"image":927},"张彦斐","\u002Fimages\u002Fmember_photo\u002F张彦斐.jpg",1792431905846]