新增建图导航包REAMME

src/robot_navigation/README.md

@@ -0,0 +1,53 @@
+# blackTornadoRobot建图导航功能
+建图导航功能包，可实现建图导航功能
+
+### 建图运行方法
+首先启动小车
+
+```sh
+$ roslaunch robot_bringup robot_bringup.launch
+```
+
+然后运行键盘控制程序
+
+```sh
+$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+再运行建图程序gmapping
+
+```sh
+$ roslaunch robot_navigation gmapping_ydlidar_X2L.launch
+```
+
+启动rviz可视化工具
+
+```sh
+$ roslaunch robot_navigation view_navigation.launch
+```
+用键盘控制小车移动可建立地图地图
+
+最后保存地图
+
+```sh
+$ rosrun map_server map_saver -f  ~/blackTornadoRobot/src/robot_navigation/maps/mymap
+```
+
+### 导航运行方法
+首先启动小车
+
+```sh
+$ roslaunch robot_bringup robot_bringup.launch
+```
+
+运行amcl导航
+
+```sh
+$ roslaunch robot_navigation amcl_ydlidar_X2L.launch
+```
+
+启动rviz可视化工具
+
+```sh
+$ roslaunch robot_navigation view_navigation.launch
+```