#!/bin/bash
# GO2 导航启动脚本

source /opt/ros/humble/setup.bash
source ~/unitree_ros2/cyclonedds_ws/install/setup.bash
source ~/go2_robot_system/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

echo '=========================================='
echo 'GO2 机器狗导航系统'
echo '=========================================='
echo ''
echo '地图: ~/go2_maps/competition_map.yaml'
echo ''

ros2 launch go2_navigation2 go2_nav2.launch.py use_rviz:=true map:=/home/limerly/go2_maps/competition_map.yaml