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
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lulijing
71
README.md
71
README.md
@@ -38,7 +38,7 @@ ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehavi
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```bash
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cd go2_sim_ws/src/docker
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docker compose up -d --build --remove-orphans #容器构建
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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
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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
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docker compose ps #容器查看
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docker compose exec go2_sim bash #进入容器
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docker compose down #容器删除
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@@ -70,18 +70,71 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ro
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ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehaviorCommand "{command: 'walk'}"
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```
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## 2.3 建图和导航
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建图需在终端中输入如下命令
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**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。
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**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）：
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```bash
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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ros2 launch cartographer go2_cartographer.launch.py
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel #【键盘控制
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ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map #保存地图
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cd go2_sim_ws
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source install/setup.bash
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```
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### 建图（Cartographer SLAM）
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1. **终端 1 — Gazebo 仿真**（带扩展传感器与仓库世界）：
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```bash
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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```
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2. **终端 2 — Cartographer 与 RViz**：
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```bash
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ros2 launch cartographer go2_cartographer.launch.py
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```
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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。
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
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```
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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`）：
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```bash
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cd go2_sim_ws
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source install/setup.bash
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mkdir -p maps_out && cd maps_out
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ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map
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```
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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）。
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导航需要在终端中输入如下命令
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### 导航（Nav2）
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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`）。
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1. **终端 1 — Gazebo**：
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```bash
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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ros2 launch navigation2 go2_navigation2.launch.py
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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```
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2. **终端 2 — Nav2**（默认加载已安装的 `navigation2/maps/warehouse_map.yaml`）：
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```bash
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ros2 launch navigation2 go2_navigation2.launch.py
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```
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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`）：
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```bash
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ros2 launch navigation2 go2_navigation2.launch.py map:=/绝对路径/go2_sim_ws/maps_out/warehouse_map.yaml
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```
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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。
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63
README_EN.md
63
README_EN.md
@@ -48,7 +48,7 @@ The following commands cover the main Docker workflow:
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```bash
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cd go2_sim_ws/src/docker
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docker compose up -d --build --remove-orphans # Build containers
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docker compose up -d go2_sim # Start container in detached mode
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docker compose up -d go2_sim # Start in detached mode; go2_sim is the compose service name
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docker compose ps # List containers
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docker compose exec go2_sim bash # Enter container
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docker compose down # Remove containers
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@@ -85,20 +85,71 @@ ros2 service call /robot1/robot_behavior_command quadropted_msgs/srv/RobotBehavi
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```
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## 2.3 Mapping and Navigation
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For mapping, run the following commands in terminal:
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**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.
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**In every new terminal**, load the workspace:
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```bash
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cd go2_sim_ws
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source install/setup.bash
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```
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### Mapping (Cartographer SLAM)
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1. **Terminal 1 — Gazebo** (extended sensors, warehouse world):
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```bash
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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ros2 launch cartographer go2_cartographer.launch.py
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel # keyboard control
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ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map # save map
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```
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2. **Terminal 2 — Cartographer + RViz**:
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```bash
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ros2 launch cartographer go2_cartographer.launch.py
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```
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3. **Terminal 3 — Keyboard teleop (strongly recommended)** so the robot explores; otherwise the map will stay poor or incomplete.
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/robot1/cmd_vel
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```
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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**):
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```bash
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cd go2_sim_ws
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source install/setup.bash
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mkdir -p maps_out && cd maps_out
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ros2 run nav2_map_server map_saver_cli -t map -f warehouse_map
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```
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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`).
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For navigation, run:
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### Navigation (Nav2)
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When using the bundled warehouse map, keep the same world as for mapping (`warehouse.sdf`).
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1. **Terminal 1 — Gazebo**:
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```bash
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ros2 launch gazebo_sim launch.py sensors:=true world:=warehouse.sdf
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```
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2. **Terminal 2 — Nav2** (default map: installed `navigation2/maps/warehouse_map.yaml`):
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```bash
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ros2 launch navigation2 go2_navigation2.launch.py
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```
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To use a map you saved yourself:
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```bash
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ros2 launch navigation2 go2_navigation2.launch.py map:=/absolute/path/to/go2_sim_ws/maps_out/warehouse_map.yaml
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```
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Set the initial pose and goal in RViz; Nav2 plans and executes—keyboard teleop is not required as the primary interface.
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