25 lines
1.0 KiB
Bash
25 lines
1.0 KiB
Bash
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#!/bin/bash
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# 航点标记专用脚本（不启动Nav2导航，机器狗不会动）
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echo ==========================================
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echo GO2 机器狗航点标记（标点模式）
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echo ==========================================
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echo
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echo 说明：
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echo - 只启动定位（AMCL），不启动导航控制器
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echo - 在 RViz 中用 Nav2 Goal 标点，机器狗不会移动
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echo - 标完后 Ctrl+C 停止，航点自动保存
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echo
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echo 管理命令（新终端）：
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echo - 删除最后一个: ros2 service call /go2_patrol/delete_last_waypoint std_srvs/srv/Trigger
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echo - 清空所有: ros2 service call /go2_patrol/clear_route std_srvs/srv/Trigger
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echo - 查看航点: cat /c/Users/ASUS/go2_robot_system/config/ros2_patrol_routes/default.yaml
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echo
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source /opt/ros/humble/setup.bash
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source ~/unitree_ros2/cyclonedds_ws/install/setup.bash
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source ~/go2_robot_system/install/setup.bash
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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ros2 launch go2_navigation2 go2_waypoint_mark.launch.py map:=/home/limerly/go2_maps/competition_map.yaml
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