feat: 初始化 Go2 导航相关代码与配置

2026-10-15 09:40:29 +08:00
commit 07426fcc09
1282 changed files with 331220 additions and 0 deletions
--- a/go2_autonomous_navigation/rviz_config/waypoint_recording.rviz
+++ b/go2_autonomous_navigation/rviz_config/waypoint_recording.rviz
@@ -0,0 +1,39 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Map
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+    - Class: rviz_default_plugins/LaserScan
+      Name: LaserScan
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+    - Class: rviz_default_plugins/RobotModel
+      Name: RobotModel
+    - Class: rviz_default_plugins/TF
+      Name: TF
+  Tools:
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /go2_patrol/goal_pose
+  Views:
+    Current:
+      Class: rviz_default_plugins/TopDownOrtho