#!/bin/bash
# 专业建图启动脚本（使用项目自带的建图系统）

cd ~/go2_robot_system

echo "=========================================="
echo "GO2 机器狗专业建图系统"
echo "=========================================="
echo ""
echo "建图技巧:"
echo "  1. 速度: 0.15-0.25 m/s（慢速）"
echo "  2. 转弯: 极慢，< 0.2 rad/s"
echo "  3. 路线: 走'回'字形，触发回环检测"
echo "  4. 环境: 有墙壁、柱子等明显特征"
echo ""
echo "保存地图（建图完成后，新终端）:"
echo "  cd ~/go2_robot_system"
echo "  ./scripts/go2_stop_mapping.sh"
echo ""
echo "🚀 启动专业建图系统..."
echo ""

# 使用项目自带的专业建图脚本
exec ./scripts/go2_start_mapping.sh --rviz