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更新 plc_bringup/README.md

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# plc_bringup # plc_bringup
基于nav2_bringup改写的 全向移动底盘gazebo仿真及导航（麦克纳姆轮） 基于nav2_bringup改写的 全向移动底盘gazebo仿真及导航（麦克纳姆轮）
启动： 启动：
``` ```
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
source ./install/setup.bash source ./install/setup.bash
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False ros2 launch plc_bringup tb3_simulation_launch.py
``` ```
> >
* 运行roslaunch前，请将gazebo_model下start_plane、end_plane文件夹复制到.gazebo/models目录下 * 运行roslaunch前，请将gazebo_model下start_plane、end_plane文件夹复制到.gazebo/models目录下
* 若打开的小车赛道中没有出现锥筒请按如下操作： * 若打开的小车赛道中没有出现锥筒请按如下操作：
将construction_cone.zip压缩包解压，然后将解压后的construction_cone文件复制到.gazebo/models目录下，construction_cone文件为锥筒的模型包，复制后运行launch文件就可直接打开有障碍物的赛道。 将construction_cone.zip压缩包解压，然后将解压后的construction_cone文件复制到.gazebo/models目录下，construction_cone文件为锥筒的模型包，复制后运行launch文件就可直接打开有障碍物的赛道。
The `nav2_bringup` package is an example bringup system for Nav2 applications. The `nav2_bringup` package is an example bringup system for Nav2 applications.
This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of. Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of.
Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`. Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`.
* Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175. * Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
Note: Note:
* gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly. * gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
* spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument <remapping>/tf:=tf</remapping> <remapping>/tf_static:=tf_static</remapping> under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot. * spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument <remapping>/tf:=tf</remapping> <remapping>/tf_static:=tf_static</remapping> under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot.
## Launch ## Launch
### Multi-robot Simulation ### Multi-robot Simulation
This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments. This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
#### Cloned #### Cloned
This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default. This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default.
The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`. The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
Please refer to below examples. Please refer to below examples.
```shell ```shell
ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}" ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
``` ```
#### Unique #### Unique
There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up. There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script. If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script.
```shell ```shell
ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
``` ```