使用SLAM Toolbox 定位模式进行nav导航

FateRing2025-12-04 15:54

写一个mapper_params_localization.yaml配置文件

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slam_toolbox:
  ros__parameters:
    # TF 相关
    odom_frame: odom
    map_frame: map
    base_frame: base_footprint
    scan_topic: /scan

    mode: localization       # 关键：纯定位
    map_file_name: /home/xxx/slam_toolbox_map   # 不写后缀，自动找 .posegraph + .data

    # 可选：启动时初始位姿
    # map_start_pose: [x, y, yaw]

编写slam_toolbox_localization.launch.py

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# slam_toolbox_localization.launch.py
# 放在你的包 my_slam_pkg/launch/ 目录下

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from pathlib import Path


def generate_launch_description():
    # 支持从命令行传入参数（比如 map_file / use_sim_time）
    use_sim_time = LaunchConfiguration('use_sim_time')
    params_file = LaunchConfiguration('slam_params_file')

    declare_use_sim_time = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true'
    )

    declare_params_file = DeclareLaunchArgument(
        'slam_params_file',
        default_value=str(
            Path(__file__).parent.parent / 'config' / 'mapper_params_localization.yaml'
        ),
        description='Full path to the slam_toolbox localization parameter file'
    )

    slam_toolbox_node = Node(
        package='slam_toolbox',
        executable='sync_slam_toolbox_node',    # 或 online_async_slam_toolbox_node，看你喜欢哪种
        name='slam_toolbox',
        output='screen',
        parameters=[
            params_file,
            {'use_sim_time': use_sim_time}
        ]
    )

    return LaunchDescription([
        declare_use_sim_time,
        declare_params_file,
        slam_toolbox_node
    ])

启动服务

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ros2 launch my_slam_pkg slam_toolbox_localization.launch.py \
  use_sim_time:=True \
  slam_params_file:=/home/your_name/my_slam_pkg/config/mapper_params_localization.yaml