STILL WORKING ON ......
工作基于https://github.com/liangheming/iG-LIO_SAM_LC
建图与定位
ros2 launch ig_lio_c map_mapping_launch.py
导航与规划
ros2 launch nav2_bringup base_robot_launch.py
保存pcd地图
ros2 service call /SaveMap ig_lio_c_msgs/srv/SaveMap "{save_path: '/home/XXX/XXX.pcd', resolution: 0.0}"
使用保存的pcd地图转换占据地图
ros2 service call /CovertMap ig_lio_c_msgs/srv/CovertMap "{pcd_path: '/home/XXX/XXX.pcd',map_file_name: 'XXX_map'}"