docs(readme): clarify mapping and Nav2 multi-terminal workflow

- Document per-terminal commands for Cartographer SLAM and map save path
- Document Nav2 two-terminal flow and custom map:= usage
- Warn against pasting blocking launch commands in one shell
- Fix Docker comment: compose service name is go2_sim
- Sync README_EN.md with the same structure

Made-with: Cursor

README.md

@@ -38,7 +38,7 @@ ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehavi
 ```bash
 cd go2_sim_ws/src/docker
 docker compose up -d --build --remove-orphans        #容器构建
-docker compose up -d go2_sim                        #启动容器，-d为不进入docker终端,ros2_sim是众多服务中的一个服务
+docker compose up -d go2_sim                        #启动容器，-d 为后台运行；go2_sim 为 compose 中的服务名
 docker compose ps                                    #容器查看
 docker compose exec go2_sim bash                    #进入容器
 docker compose down                                  #容器删除
@@ -70,18 +70,71 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ro
 ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
 ```
 ## 2.3 建图和导航
-建图需在终端中输入如下命令
+
+**是否需要多个终端**：需要。`ros2 launch ...` 会持续占用当前终端直到你 Ctrl+C 结束；建图时要让 **Gazebo、Cartographer、键盘遥控** 同时运行，因此必须在 **不同终端**（或 tmux/screen 分屏）中分别启动。**不要**把下面多条 `launch`/`run` 无修饰地粘进同一个终端顺序执行，否则第一条会一直阻塞，后面的命令不会执行。
+
+**每个新终端的公共前提**（在仓库根目录进入工作空间并加载环境）：
+
+```bash
+cd go2_sim_ws
+source install/setup.bash
+```
+
+### 建图（Cartographer SLAM）
+
+1. **终端 1 — Gazebo 仿真**（带扩展传感器与仓库世界）：
+
 ```bash
 ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
-ros2 launch cartographer go2_cartographer.launch.py
- ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel #【键盘控制
- ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map #保存地图
 ```
+
+2. **终端 2 — Cartographer 与 RViz**：
+
+```bash
+ros2 launch cartographer go2_cartographer.launch.py
+```
+
+3. **终端 3 — 键盘遥控（强烈建议）**：控制机器狗在环境中移动，激光才能扫到足够区域，地图质量才有保障。
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+
+4. **终端 4 — 保存占据栅格地图**（建图效果满意后再执行；会在**当前工作目录**生成 `warehouse_map.yaml` 和 `warehouse_map.pgm`）：
+
+```bash
+cd go2_sim_ws
+source install/setup.bash
+mkdir -p maps_out && cd maps_out
+ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map
+```
+
+若你在其他目录新开终端，请先 `cd` 到 `go2_sim_ws` 并 `source install/setup.bash`，再 `cd` 到保存目录后执行 `map_saver_cli`。导航时把 `map:=` 设为该 `warehouse_map.yaml` 的**绝对路径**（在 `maps_out` 下可执行 `realpath warehouse_map.yaml` 查看）。
+
 ![alt text](images/image-21.png)
 
-导航需要在终端中输入如下命令
+### 导航（Nav2）
+
+使用功能包自带的 `warehouse` 地图时，仿真世界需与建图时一致（仍为 `warehouse.sdf`）。
+
+1. **终端 1 — Gazebo**：
+
 ```bash
 ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
+```
+
+2. **终端 2 — Nav2**（默认加载已安装的 `navigation2/maps/warehouse_map.yaml`）：
+
+```bash
 ros2 launch navigation2 go2_navigation2.launch.py
 ```
+
+若使用你在建图步骤中自行保存的地图，请传入 **绝对路径**（指向 `.yaml`）：
+
+```bash
+ros2 launch navigation2 go2_navigation2.launch.py map:=/绝对路径/go2_sim_ws/maps_out/warehouse_map.yaml
+```
+
+启动后在 RViz 中使用 Nav2 插件设置初始位姿与目标点即可；导航栈会自动规划路径，**不必**再开键盘遥控作为主控方式。
+
 ![alt text](images/image-22.png)

README_EN.md

@@ -48,7 +48,7 @@ The following commands cover the main Docker workflow:
 ```bash
 cd go2_sim_ws/src/docker
 docker compose up -d --build --remove-orphans        # Build containers
-docker compose up -d go2_sim                        # Start container in detached mode
+docker compose up -d go2_sim                        # Start in detached mode; go2_sim is the compose service name
 docker compose ps                                    # List containers
 docker compose exec go2_sim bash                    # Enter container
 docker compose down                                  # Remove containers
@@ -85,20 +85,71 @@ ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehavi
 ```
 
 ## 2.3 Mapping and Navigation
-For mapping, run the following commands in terminal:
+
+**Multiple terminals are required.** `ros2 launch ...` blocks the shell until you stop it with Ctrl+C. For mapping you must run **Gazebo, Cartographer, and teleop** at the same time, so use **separate terminals** (or tmux/screen panes). **Do not** paste all commands into one terminal in sequence—the first `launch` will block and the rest will never run.
+
+**In every new terminal**, load the workspace:
+
+```bash
+cd go2_sim_ws
+source install/setup.bash
+```
+
+### Mapping (Cartographer SLAM)
+
+1. **Terminal 1 — Gazebo** (extended sensors, warehouse world):
+
 ```bash
 ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
-ros2 launch cartographer go2_cartographer.launch.py
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel # keyboard control
-ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map # save map
 ```
 
+2. **Terminal 2 — Cartographer + RViz**:
+
+```bash
+ros2 launch cartographer go2_cartographer.launch.py
+```
+
+3. **Terminal 3 — Keyboard teleop (strongly recommended)** so the robot explores; otherwise the map will stay poor or incomplete.
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
+```
+
+4. **Terminal 4 — Save the occupancy grid** (run when you are happy with the map; writes `warehouse_map.yaml` and `warehouse_map.pgm` in the **current directory**):
+
+```bash
+cd go2_sim_ws
+source install/setup.bash
+mkdir -p maps_out && cd maps_out
+ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map
+```
+
+If you open a fresh terminal elsewhere, `cd` into `go2_sim_ws`, `source install/setup.bash`, then `cd` to the save directory and run `map_saver_cli`. For Nav2, pass the **absolute path** to `warehouse_map.yaml` as `map:=` (from `maps_out`, run `realpath warehouse_map.yaml`).
+
 ![alt text](images/image-21.png)
 
-For navigation, run:
+### Navigation (Nav2)
+
+When using the bundled warehouse map, keep the same world as for mapping (`warehouse.sdf`).
+
+1. **Terminal 1 — Gazebo**:
+
 ```bash
 ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
+```
+
+2. **Terminal 2 — Nav2** (default map: installed `navigation2/maps/warehouse_map.yaml`):
+
+```bash
 ros2 launch navigation2 go2_navigation2.launch.py
 ```
 
+To use a map you saved yourself:
+
+```bash
+ros2 launch navigation2 go2_navigation2.launch.py map:=/absolute/path/to/go2_sim_ws/maps_out/warehouse_map.yaml
+```
+
+Set the initial pose and goal in RViz; Nav2 plans and executes—keyboard teleop is not required as the primary interface.
+
 ![alt text](images/image-22.png)