[{"data":1,"prerenderedAt":1436},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0500-tian-jia-di-tu":3,"wiki-doc-items-2026-09-20-dao-hang":1202,"wiki:author-members":1424},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":320,"chapterOrder":1190,"date":1191,"description":104,"docKey":1192,"docRoot":1193,"docTitle":1194,"extension":1195,"isWikiDoc":615,"isWikiIndex":1196,"meta":1197,"navigation":615,"path":1198,"seo":1199,"stem":1200,"wikiDepth":320,"__hash__":1201},"wiki\u002Fwiki\u002F2026-09-20-导航\u002F0300-0500-添加地图.md","添加地图",[7],"董佳辉",{"type":9,"value":10,"toc":1183},"minimark",[11,14,31,38,94,97,107,110,114,127,133,241,255,258,266,270,281,287,304,309,337,341,366,380,399,402,440,447,450,453,459,462,468,471,566,569,576,579,594,709,725,747,751,754,760,763,854,936,939,951,954,957,1005,1008,1060,1081,1084,1087,1093,1099,1109,1165,1179],[12,13,5],"h2",{"id":5},[15,16,17,18,22,23,26,27,30],"p",{},"这里以添加 ",[19,20,21],"code",{},"rmuc_2026"," 为例，说明如何把一个新场地接入咱们的仿真和导航工程。换成 ",[19,24,25],{},"rmuc_2027","、",[19,28,29],{},"rmul_2027"," 或自己的场地名，流程一样，但模型尺寸、坐标和出生点要重新确认。",[15,32,33,37],{},[34,35,36],"strong",{},"先分清三种文件：Gazebo 的三维场地、Nav2 的二维栅格地图、small_gicp 定位用的三维点云。"," 它们分别由不同程序读取，只添加其中一种，其他文件不会自动生成。",[39,40,41,57],"table",{},[42,43,44],"thead",{},[45,46,47,51,54],"tr",{},[48,49,50],"th",{},"文件",[48,52,53],{},"谁读取",[48,55,56],{},"具体作用",[58,59,60,72,83],"tbody",{},[45,61,62,66,69],{},[63,64,65],"td",{},"STL／DAE + 模型 SDF + 世界 SDF",[63,67,68],{},"Gazebo",[63,70,71],{},"搭建三维环境，决定机器人看到什么、撞到什么、雷达能扫到什么",[45,73,74,77,80],{},[63,75,76],{},"PGM／PNG + 地图 YAML",[63,78,79],{},"map_server、Nav2",[63,81,82],{},"提供二维静态地图，表示空闲、障碍和未知区域",[45,84,85,88,91],{},[63,86,87],{},"PCD",[63,89,90],{},"small_gicp_relocalization；Point-LIO 是否读取取决于先验开关",[63,92,93],{},"提供保存的三维环境点云，用于定位或先验地图相关功能",[15,95,96],{},"当前常规导航的关系为：",[98,99,105],"pre",{"className":100,"code":102,"language":103,"meta":104},[101],"language-text","三维场地 → Gazebo → 仿真雷达、IMU和机器人运动\n\n二维图片 + 地图YAML → map_server → Nav2静态地图\n实时点云 + 先验PCD → small_gicp → map与odom之间的定位变换\n实时地形点云 → 代价地图 → 更新当前障碍\n","text","",[19,106,102],{"__ignoreMap":104},[15,108,109],{},"如果只是给实车添加已经建好的地图，可以直接看后面的“实车添加地图”，不需要制作 Gazebo 场地。",[111,112,113],"h3",{"id":113},"地图放在哪些文件夹",[15,115,116,117,26,120,26,123,126],{},"下面路径都相对于导航工作空间，也就是包含 ",[19,118,119],{},"src\u002F",[19,121,122],{},"build\u002F",[19,124,125],{},"install\u002F"," 的目录。",[98,128,131],{"className":129,"code":130,"language":103,"meta":104},[101],"src\u002F\n├── rmu_gazebo_simulator\u002Frmu_gazebo_simulator\u002F\n│   ├── config\u002Fgz_world.yaml                 # 选择仿真场地、设置机器人出生点\n│   └── resource\u002F\n│       ├── models\u002F\n│       │   └── rmuc_2026\u002F\n│       │       ├── model.config             # 模型说明，指定入口model.sdf\n│       │       ├── model.sdf                # 模型的显示、碰撞、缩放和位姿\n│       │       └── meshes\u002F\n│       │           └── rmuc_2026.stl         # 三维场地网格\n│       └── worlds\u002F\n│           └── rmuc_2026_world.sdf           # 加载场地、物理、传感器和光照\n└── pb2025_sentry_nav\u002Fpb2025_nav_bringup\u002F\n    ├── map\u002F\n    │   ├── simulation\u002F                      # 仿真二维地图：图片 + YAML\n    │   ├── reality\u002F                         # 实车二维地图：图片 + YAML\n    │   └── staging\u002F                         # 临时保存、尚未归档的二维地图\n    └── pcd\u002F\n        ├── simulation\u002F                      # 仿真定位点云\n        ├── reality\u002F                         # 实车定位点云\n        └── staging\u002F                         # 临时保存、尚未归档的点云\n",[19,132,130],{"__ignoreMap":104},[39,134,135,144],{},[42,136,137],{},[45,138,139,142],{},[48,140,141],{},"文件夹或文件",[48,143,56],{},[58,145,146,159,169,179,189,199,209,220,230],{},[45,147,148,153],{},[63,149,150],{},[19,151,152],{},"models\u002F\u003C场地名>\u002F",[63,154,155,156],{},"一套三维场地模型；目录名对应 ",[19,157,158],{},"model:\u002F\u002F\u003C场地名>",[45,160,161,166],{},[63,162,163],{},[19,164,165],{},"meshes\u002F",[63,167,168],{},"存放 STL、DAE 等真正的三维形状文件",[45,170,171,176],{},[63,172,173],{},[19,174,175],{},"model.config",[63,177,178],{},"告诉 Gazebo 模型叫什么、从哪个 SDF 文件加载",[45,180,181,186],{},[63,182,183],{},[19,184,185],{},"model.sdf",[63,187,188],{},"引用网格，定义外观、碰撞、尺寸和位置；只有外观没有碰撞，机器人可能穿过场地",[45,190,191,196],{},[63,192,193],{},[19,194,195],{},"worlds\u002F\u003C场地名>_world.sdf",[63,197,198],{},"把模型放进完整仿真世界，并配置物理和传感器等系统",[45,200,201,206],{},[63,202,203],{},[19,204,205],{},"gz_world.yaml",[63,207,208],{},"选择加载哪个世界文件，以及机器人在哪里出生、朝向哪里",[45,210,211,217],{},[63,212,213,216],{},[19,214,215],{},"map\u002F"," 下的图片",[63,218,219],{},"二维栅格地图的图像数据",[45,221,222,227],{},[63,223,224,226],{},[19,225,215],{}," 下的 YAML",[63,228,229],{},"指定图片路径、分辨率、原点和占用判断方式，和图片配套使用",[45,231,232,238],{},[63,233,234,237],{},[19,235,236],{},"pcd\u002F"," 下的 PCD",[63,239,240],{},"三维环境点云，用于定位；不能拿 STL 改后缀代替",[15,242,243,246,247,250,251,254],{},[19,244,245],{},"staging\u002F"," 只是临时存放目录，导航不会自动读取里面最新的文件。确认可用后，放到对应的 ",[19,248,249],{},"simulation\u002F"," 或 ",[19,252,253],{},"reality\u002F","。",[111,256,257],{"id":257},"仿真添加地图",[15,259,260,261,254],{},"以下以已有新场地 STL、二维图片及配套 YAML、定位 PCD 为前提。建图和保存方法见",[262,263,265],"a",{"href":264},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0200-huan-jing-pei-zhi-yu-yun-xing","环境配置与运行",[267,268,269],"h4",{"id":269},"添加三维模型",[15,271,272,273,276,277,280],{},"在 ",[19,274,275],{},"resource\u002Fmodels\u002F"," 下新建 ",[19,278,279],{},"rmuc_2026\u002Fmeshes\u002F","，把新场地 STL 放进去：",[98,282,285],{"className":283,"code":284,"language":103,"meta":104},[101],"resource\u002Fmodels\u002Frmuc_2026\u002Fmeshes\u002Frmuc_2026.stl\n",[19,286,284],{"__ignoreMap":104},[15,288,289,290,293,294,296,297,299,300,303],{},"再从原有 ",[19,291,292],{},"rmuc_2025\u002F"," 复制 ",[19,295,175],{}," 和 ",[19,298,185],{}," 到 ",[19,301,302],{},"rmuc_2026\u002F","，按下面修改。",[15,305,306,308],{},[19,307,175],{}," 中把模型名称改成：",[98,310,314],{"className":311,"code":312,"language":313,"meta":104,"style":104},"language-xml shiki shiki-themes github-light github-dark","\u003Cname>rmuc_2026\u003C\u002Fname>\n","xml",[19,315,316],{"__ignoreMap":104},[317,318,321,325,329,332,334],"span",{"class":319,"line":320},"line",1,[317,322,324],{"class":323},"sVt8B","\u003C",[317,326,328],{"class":327},"s9eBZ","name",[317,330,331],{"class":323},">rmuc_2026\u003C\u002F",[317,333,328],{"class":327},[317,335,336],{"class":323},">\n",[15,338,339,308],{},[19,340,185],{},[98,342,344],{"className":311,"code":343,"language":313,"meta":104,"style":104},"\u003Cmodel name=\"rmuc_2026\">\n",[19,345,346],{"__ignoreMap":104},[317,347,348,350,353,357,360,364],{"class":319,"line":320},[317,349,324],{"class":323},[317,351,352],{"class":327},"model",[317,354,356],{"class":355},"sScJk"," name",[317,358,359],{"class":323},"=",[317,361,363],{"class":362},"sZZnC","\"rmuc_2026\"",[317,365,336],{"class":323},[15,367,368,369,296,372,375,376,379],{},"然后把 ",[19,370,371],{},"\u003Cvisual>",[19,373,374],{},"\u003Ccollision>"," 中的网格路径",[34,377,378],{},"两处都改成","：",[98,381,383],{"className":311,"code":382,"language":313,"meta":104,"style":104},"\u003Curi>model:\u002F\u002Frmuc_2026\u002Fmeshes\u002Frmuc_2026.stl\u003C\u002Furi>\n",[19,384,385],{"__ignoreMap":104},[317,386,387,389,392,395,397],{"class":319,"line":320},[317,388,324],{"class":323},[317,390,391],{"class":327},"uri",[317,393,394],{"class":323},">model:\u002F\u002Frmuc_2026\u002Fmeshes\u002Frmuc_2026.stl\u003C\u002F",[317,396,391],{"class":327},[317,398,336],{"class":323},[15,400,401],{},"同时确认这两项：",[39,403,404,414],{},[42,405,406],{},[45,407,408,411],{},[48,409,410],{},"配置",[48,412,413],{},"怎么填",[58,415,416,430],{},[45,417,418,423],{},[63,419,420],{},[19,421,422],{},"\u003Cscale>1 1 1\u003C\u002Fscale>",[63,424,425,426,429],{},"模型尺寸已经以米表示时使用；毫米转米通常改成 ",[19,427,428],{},"0.001 0.001 0.001","，显示和碰撞两处一致",[45,431,432,437],{},[63,433,434],{},[19,435,436],{},"\u003Cpose>x y z roll pitch yaw\u003C\u002Fpose>",[63,438,439],{},"根据导出模型的原点和方向设置；前三项单位米，后三项单位弧度，不要直接照搬旧场地的偏移",[15,441,442,443,446],{},"保留 ",[19,444,445],{},"\u003Cstatic>true\u003C\u002Fstatic>","，让场地固定不动。",[267,448,449],{"id":449},"添加世界文件",[15,451,452],{},"复制：",[98,454,457],{"className":455,"code":456,"language":103,"meta":104},[101],"resource\u002Fworlds\u002Frmuc_2025_world.sdf\n",[19,458,456],{"__ignoreMap":104},[15,460,461],{},"命名为：",[98,463,466],{"className":464,"code":465,"language":103,"meta":104},[101],"resource\u002Fworlds\u002Frmuc_2026_world.sdf\n",[19,467,465],{"__ignoreMap":104},[15,469,470],{},"保留原有插件、光照和外层结构，把文件末尾引用场地的部分改成：",[98,472,474],{"className":311,"code":473,"language":313,"meta":104,"style":104},"\u003Cmodel name=\"rmuc_2026\">\n  \u003Cinclude>\n    \u003Curi>model:\u002F\u002Frmuc_2026\u003C\u002Furi>\n  \u003C\u002Finclude>\n  \u003Cpose>0 0 0 0 0 0\u003C\u002Fpose>\n  \u003Cstatic>true\u003C\u002Fstatic>\n\u003C\u002Fmodel>\n",[19,475,476,490,501,516,526,541,556],{"__ignoreMap":104},[317,477,478,480,482,484,486,488],{"class":319,"line":320},[317,479,324],{"class":323},[317,481,352],{"class":327},[317,483,356],{"class":355},[317,485,359],{"class":323},[317,487,363],{"class":362},[317,489,336],{"class":323},[317,491,493,496,499],{"class":319,"line":492},2,[317,494,495],{"class":323},"  \u003C",[317,497,498],{"class":327},"include",[317,500,336],{"class":323},[317,502,504,507,509,512,514],{"class":319,"line":503},3,[317,505,506],{"class":323},"    \u003C",[317,508,391],{"class":327},[317,510,511],{"class":323},">model:\u002F\u002Frmuc_2026\u003C\u002F",[317,513,391],{"class":327},[317,515,336],{"class":323},[317,517,519,522,524],{"class":319,"line":518},4,[317,520,521],{"class":323},"  \u003C\u002F",[317,523,498],{"class":327},[317,525,336],{"class":323},[317,527,529,531,534,537,539],{"class":319,"line":528},5,[317,530,495],{"class":323},[317,532,533],{"class":327},"pose",[317,535,536],{"class":323},">0 0 0 0 0 0\u003C\u002F",[317,538,533],{"class":327},[317,540,336],{"class":323},[317,542,544,546,549,552,554],{"class":319,"line":543},6,[317,545,495],{"class":323},[317,547,548],{"class":327},"static",[317,550,551],{"class":323},">true\u003C\u002F",[317,553,548],{"class":327},[317,555,336],{"class":323},[317,557,559,562,564],{"class":319,"line":558},7,[317,560,561],{"class":323},"\u003C\u002F",[317,563,352],{"class":327},[317,565,336],{"class":323},[15,567,568],{},"这里的 pose 是场地模型在世界中的位置和姿态，也要根据实际模型调整。模型 SDF 和世界文件里的变换会叠加，不要重复补偿同一个偏移。",[15,570,571,572,575],{},"外层 ",[19,573,574],{},"\u003Cworld name=\"default\">"," 保持原样，当前工程的桥接和相关服务使用这个世界名。",[267,577,578],{"id":578},"设置场地和出生点",[15,580,581,582,585,586,589,590,593],{},"修改仿真包的 ",[19,583,584],{},"src\u002Frmu_gazebo_simulator\u002Frmu_gazebo_simulator\u002Fconfig\u002Fgz_world.yaml","，在已有 ",[19,587,588],{},"robots:"," 下面增加新场地配置，并把顶部的 ",[19,591,592],{},"world"," 切换过去：",[98,595,599],{"className":596,"code":597,"language":598,"meta":104,"style":104},"language-yaml shiki shiki-themes github-light github-dark","world: \"rmuc_2026\"\n\nrobots:\n  # 原有场地配置继续保留\n\n  rmuc_2026:\n    - name: \"red_standard_robot1\"\n      color: \"red\"\n      x_pose: \"3.4\"\n      y_pose: \"9.5\"\n      z_pose: \"0.7\"\n      yaw: \"0.0\"\n","yaml",[19,600,601,611,617,625,631,635,642,654,665,676,687,698],{"__ignoreMap":104},[317,602,603,605,608],{"class":319,"line":320},[317,604,592],{"class":327},[317,606,607],{"class":323},": ",[317,609,610],{"class":362},"\"rmuc_2026\"\n",[317,612,613],{"class":319,"line":492},[317,614,616],{"emptyLinePlaceholder":615},true,"\n",[317,618,619,622],{"class":319,"line":503},[317,620,621],{"class":327},"robots",[317,623,624],{"class":323},":\n",[317,626,627],{"class":319,"line":518},[317,628,630],{"class":629},"sJ8bj","  # 原有场地配置继续保留\n",[317,632,633],{"class":319,"line":528},[317,634,616],{"emptyLinePlaceholder":615},[317,636,637,640],{"class":319,"line":543},[317,638,639],{"class":327},"  rmuc_2026",[317,641,624],{"class":323},[317,643,644,647,649,651],{"class":319,"line":558},[317,645,646],{"class":323},"    - ",[317,648,328],{"class":327},[317,650,607],{"class":323},[317,652,653],{"class":362},"\"red_standard_robot1\"\n",[317,655,657,660,662],{"class":319,"line":656},8,[317,658,659],{"class":327},"      color",[317,661,607],{"class":323},[317,663,664],{"class":362},"\"red\"\n",[317,666,668,671,673],{"class":319,"line":667},9,[317,669,670],{"class":327},"      x_pose",[317,672,607],{"class":323},[317,674,675],{"class":362},"\"3.4\"\n",[317,677,679,682,684],{"class":319,"line":678},10,[317,680,681],{"class":327},"      y_pose",[317,683,607],{"class":323},[317,685,686],{"class":362},"\"9.5\"\n",[317,688,690,693,695],{"class":319,"line":689},11,[317,691,692],{"class":327},"      z_pose",[317,694,607],{"class":323},[317,696,697],{"class":362},"\"0.7\"\n",[317,699,701,704,706],{"class":319,"line":700},12,[317,702,703],{"class":327},"      yaw",[317,705,607],{"class":323},[317,707,708],{"class":362},"\"0.0\"\n",[15,710,711,26,714,26,717,720,721,724],{},[19,712,713],{},"x_pose",[19,715,716],{},"y_pose",[19,718,719],{},"z_pose"," 是机器人在 Gazebo 世界坐标系中的出生位置，单位米；",[19,722,723],{},"yaw"," 是朝向，单位弧度。上面的数值只是示例，要按实际地面高度和机器人模型原点调整。",[15,726,727,736,737,740,741,743,744,746],{},[34,728,729,730,732,733,735],{},"文件里只保留一个顶部 ",[19,731,592],{}," 和一个 ",[19,734,621],{},"，新场地加入已有列表。"," 当前启动文件会按名称加载 ",[19,738,739],{},"rmuc_2026_world.sdf","，再读取 ",[19,742,621],{}," 下的 ",[19,745,21],{}," 出生配置。",[267,748,750],{"id":749},"放入二维地图和pcd","放入二维地图和PCD",[15,752,753],{},"把准备好的文件放到：",[98,755,758],{"className":756,"code":757,"language":103,"meta":104},[101],"src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002F\n├── map\u002Fsimulation\u002F\n│   ├── rmuc_2026.yaml\n│   └── rmuc_2026.pgm\n└── pcd\u002Fsimulation\u002F\n    └── rmuc_2026.pcd\n",[19,759,757],{"__ignoreMap":104},[15,761,762],{},"地图 YAML 例如：",[98,764,766],{"className":596,"code":765,"language":598,"meta":104,"style":104},"image: rmuc_2026.pgm\nmode: trinary\nresolution: 0.05\norigin: [-3.4, -9.5, 0]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n",[19,767,768,778,788,799,824,834,844],{"__ignoreMap":104},[317,769,770,773,775],{"class":319,"line":320},[317,771,772],{"class":327},"image",[317,774,607],{"class":323},[317,776,777],{"class":362},"rmuc_2026.pgm\n",[317,779,780,783,785],{"class":319,"line":492},[317,781,782],{"class":327},"mode",[317,784,607],{"class":323},[317,786,787],{"class":362},"trinary\n",[317,789,790,793,795],{"class":319,"line":503},[317,791,792],{"class":327},"resolution",[317,794,607],{"class":323},[317,796,798],{"class":797},"sj4cs","0.05\n",[317,800,801,804,807,810,813,816,818,821],{"class":319,"line":518},[317,802,803],{"class":327},"origin",[317,805,806],{"class":323},": [",[317,808,809],{"class":797},"-3.4",[317,811,812],{"class":323},", ",[317,814,815],{"class":797},"-9.5",[317,817,812],{"class":323},[317,819,820],{"class":797},"0",[317,822,823],{"class":323},"]\n",[317,825,826,829,831],{"class":319,"line":528},[317,827,828],{"class":327},"negate",[317,830,607],{"class":323},[317,832,833],{"class":797},"0\n",[317,835,836,839,841],{"class":319,"line":543},[317,837,838],{"class":327},"occupied_thresh",[317,840,607],{"class":323},[317,842,843],{"class":797},"0.65\n",[317,845,846,849,851],{"class":319,"line":558},[317,847,848],{"class":327},"free_thresh",[317,850,607],{"class":323},[317,852,853],{"class":797},"0.196\n",[39,855,856,866],{},[42,857,858],{},[45,859,860,863],{},[48,861,862],{},"参数",[48,864,865],{},"含义",[58,867,868,877,890,903,916,925],{},[45,869,870,874],{},[63,871,872],{},[19,873,772],{},[63,875,876],{},"图片路径；相对路径以这份 YAML 所在目录为基准",[45,878,879,883],{},[63,880,881],{},[19,882,782],{},[63,884,885,886,889],{},"栅格解释方式；",[19,887,888],{},"trinary"," 表示占用、空闲、未知三态",[45,891,892,896],{},[63,893,894],{},[19,895,792],{},[63,897,898,899,902],{},"每像素代表多少米；",[19,900,901],{},"0.05"," 即 5 cm",[45,904,905,909],{},[63,906,907],{},[19,908,803],{},[63,910,911,912,915],{},"地图原点在 map 系中的 ",[19,913,914],{},"[x, y, yaw]","，第三项是转角，不是高度",[45,917,918,922],{},[63,919,920],{},[19,921,828],{},[63,923,924],{},"本例 0 表示黑色倾向占用、白色倾向空闲",[45,926,927,933],{},[63,928,929,26,931],{},[19,930,838],{},[19,932,848],{},[63,934,935],{},"像素换算后的占用判断门槛",[15,937,938],{},"优先保留建图工具生成的分辨率和原点，不能把出生点简单取负数当作 origin。图片与 PCD 要对应同一个场地，并具有正确的尺度和坐标关系。",[15,940,941,942,945,946,950],{},"本例的 ",[19,943,944],{},"free_thresh: 0.196"," 用于保留当前三态保存方式写出的未知灰色，具体见",[262,947,949],{"href":948},"\u002Fwiki\u002F2026-09-20-dao-hang\u002F0500-1500-map-saver","map_saver","。已有地图应检查自己的图片和元数据，不必直接照抄这组值。",[267,952,953],{"id":953},"编译并启动",[15,955,956],{},"在工作空间根目录执行，已有依赖按前面的环境教程准备：",[98,958,962],{"className":959,"code":960,"language":961,"meta":104,"style":104},"language-bash shiki shiki-themes github-light github-dark","colcon build --symlink-install --packages-select rmu_gazebo_simulator pb2025_nav_bringup\nsource install\u002Fsetup.bash\nros2 launch rmu_gazebo_simulator bringup_sim.launch.py\n","bash",[19,963,964,984,992],{"__ignoreMap":104},[317,965,966,969,972,975,978,981],{"class":319,"line":320},[317,967,968],{"class":355},"colcon",[317,970,971],{"class":362}," build",[317,973,974],{"class":797}," --symlink-install",[317,976,977],{"class":797}," --packages-select",[317,979,980],{"class":362}," rmu_gazebo_simulator",[317,982,983],{"class":362}," pb2025_nav_bringup\n",[317,985,986,989],{"class":319,"line":492},[317,987,988],{"class":797},"source",[317,990,991],{"class":362}," install\u002Fsetup.bash\n",[317,993,994,997,1000,1002],{"class":319,"line":503},[317,995,996],{"class":355},"ros2",[317,998,999],{"class":362}," launch",[317,1001,980],{"class":362},[317,1003,1004],{"class":362}," bringup_sim.launch.py\n",[15,1006,1007],{},"另开终端，进入同一工作空间，启动导航：",[98,1009,1011],{"className":959,"code":1010,"language":961,"meta":104,"style":104},"source install\u002Fsetup.bash\nros2 launch pb2025_nav_bringup rm_navigation_simulation_launch.py \\\n  world:=rmuc_2026 \\\n  use_sim_time:=True \\\n  use_joy:=False \\\n  slam:=False\n",[19,1012,1013,1019,1034,1041,1048,1055],{"__ignoreMap":104},[317,1014,1015,1017],{"class":319,"line":320},[317,1016,988],{"class":797},[317,1018,991],{"class":362},[317,1020,1021,1023,1025,1028,1031],{"class":319,"line":492},[317,1022,996],{"class":355},[317,1024,999],{"class":362},[317,1026,1027],{"class":362}," pb2025_nav_bringup",[317,1029,1030],{"class":362}," rm_navigation_simulation_launch.py",[317,1032,1033],{"class":797}," \\\n",[317,1035,1036,1039],{"class":319,"line":503},[317,1037,1038],{"class":362},"  world:=rmuc_2026",[317,1040,1033],{"class":797},[317,1042,1043,1046],{"class":319,"line":518},[317,1044,1045],{"class":362},"  use_sim_time:=True",[317,1047,1033],{"class":797},[317,1049,1050,1053],{"class":319,"line":528},[317,1051,1052],{"class":362},"  use_joy:=False",[317,1054,1033],{"class":797},[317,1056,1057],{"class":319,"line":543},[317,1058,1059],{"class":362},"  slam:=False\n",[15,1061,1062,1074,1075,296,1078,254],{},[34,1063,1064,1066,1067,1069,1070,1073],{},[19,1065,205],{}," 里的 ",[19,1068,592],{}," 选择仿真场地，导航命令里的 ",[19,1071,1072],{},"world:=rmuc_2026"," 选择同名二维地图和 PCD，两边需要对应。"," 当前导航入口会读取安装包中的 ",[19,1076,1077],{},"map\u002Fsimulation\u002Frmuc_2026.yaml",[19,1079,1080],{},"pcd\u002Fsimulation\u002Frmuc_2026.pcd",[15,1082,1083],{},"在 Gazebo 中确认场地和机器人位置正确，再在 RViz 中确认地图、点云与机器人位置对应。",[111,1085,1086],{"id":1086},"实车添加地图",[15,1088,1089,1090,1092],{},"实车只需把已经建好的地图放到 ",[19,1091,253],{},"，不需要添加 Gazebo 模型和世界文件：",[98,1094,1097],{"className":1095,"code":1096,"language":103,"meta":104},[101],"src\u002Fpb2025_sentry_nav\u002Fpb2025_nav_bringup\u002F\n├── map\u002Freality\u002F\n│   ├── site_01.yaml\n│   └── site_01.pgm\n└── pcd\u002Freality\u002F\n    └── site_01.pcd\n",[19,1098,1096],{"__ignoreMap":104},[15,1100,1101,1102,1104,1105,1108],{},"确认 YAML 中的 ",[19,1103,772],{}," 指向配套图片，重新构建 ",[19,1106,1107],{},"pb2025_nav_bringup"," 并 source。\n按前面的教程启动硬件和传感器节点后，运行：",[98,1110,1112],{"className":959,"code":1111,"language":961,"meta":104,"style":104},"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:=False \\\n  world:=site_01\n",[19,1113,1114,1120,1133,1140,1146,1153,1160],{"__ignoreMap":104},[317,1115,1116,1118],{"class":319,"line":320},[317,1117,988],{"class":797},[317,1119,991],{"class":362},[317,1121,1122,1124,1126,1128,1131],{"class":319,"line":492},[317,1123,996],{"class":355},[317,1125,999],{"class":362},[317,1127,1027],{"class":362},[317,1129,1130],{"class":362}," rm_navigation_reality_launch.py",[317,1132,1033],{"class":797},[317,1134,1135,1138],{"class":319,"line":503},[317,1136,1137],{"class":362},"  use_sim_time:=False",[317,1139,1033],{"class":797},[317,1141,1142,1144],{"class":319,"line":518},[317,1143,1052],{"class":362},[317,1145,1033],{"class":797},[317,1147,1148,1151],{"class":319,"line":528},[317,1149,1150],{"class":362},"  use_robot_state_pub:=True",[317,1152,1033],{"class":797},[317,1154,1155,1158],{"class":319,"line":543},[317,1156,1157],{"class":362},"  slam:=False",[317,1159,1033],{"class":797},[317,1161,1162],{"class":319,"line":558},[317,1163,1164],{"class":362},"  world:=site_01\n",[15,1166,1167,1168,1171,1172,296,1175,1178],{},"这里的 ",[19,1169,1170],{},"world:=site_01"," 只是选择 ",[19,1173,1174],{},"map\u002Freality\u002Fsite_01.yaml",[19,1176,1177],{},"pcd\u002Freality\u002Fsite_01.pcd","，不会启动 Gazebo。",[1180,1181,1182],"style",{},"html pre.shiki code .sVt8B, html code.shiki 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