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@@ -15,8 +15,8 @@
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<!-- startup EAI X2L lidar node -->
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<include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />
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- <!-- startup move_base node -->
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- <include file="$(find robot_navigation)/launch/move_base.launch" />
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+ <!-- startup move_base node --><!-- 建图不需要启动move_base -->
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+ <!-- <include file="$(find robot_navigation)/launch/move_base.launch" /> -->
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<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
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<param name="odom_frame" value="odom_combined" />
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@@ -48,7 +48,7 @@
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<param name="ymin" value="-5.0"/>
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<param name="xmax" value="5.0"/>
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<param name="ymax" value="5.0"/>
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- <param name="delta" value="0.02"/> <!--resolution of the map -->
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+ <param name="delta" value="0.02"/> <!--resolution of the map --><!--大环境建图范围为0.05-0.1 -->
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<param name="llsamplerange" value="0.01"/>
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<param name="llsamplestep" value="0.01"/>
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