更新amcl自动导航时加载地图名为test_map,同时将无用地图删除

src/dual_iic/src/device.cpp

@@ -1,5 +1,4 @@
 /*
- * @Copyright(C): 2016-2021 ROS小课堂 www.corvin.cn
  * @Author: adam_zhuo
  * @Date: 2022-07-08 11:14:17
  * @Description: file content

src/dual_iic/src/driver.cpp

@@ -59,7 +59,7 @@ void Driver::OLED_SetGramScanWay(OLED_SCAN_DIR Scan_dir)
         sOLED_DIS.OLED_X_Adjust = OLED_X;
         sOLED_DIS.OLED_Y_Adjust = OLED_Y;
     } else {
-        sOLED_DIS.OLED_Dis_Column	= OLED_HEIGHT ;
+        sOLED_DIS.OLED_Dis_Column = OLED_HEIGHT ;
         sOLED_DIS.OLED_Dis_Page = OLED_WIDTH ;
         sOLED_DIS.OLED_X_Adjust = OLED_Y;
         sOLED_DIS.OLED_Y_Adjust = OLED_X;
@@ -275,7 +275,3 @@ void Driver::GUI_Show(std::string bat)
     GUI_DisString_EN(36, 40, bat.c_str(), &Font12, FONT_BACKGROUND, WHITE);
     OLED_Display();
 }
-
-
-
-

src/dual_iic/src/main.cpp

@@ -1,5 +1,4 @@
 /*
- * @Copyright(C): 2016-2021 ROS小课堂 www.corvin.cn
  * @Author: adam_zhuo
  * @Date: 2022-07-08 11:29:12
  * @Description: file content

src/robot_navigation/launch/amcl_ydlidar_X2L.launch

@@ -7,7 +7,7 @@
 -->
 <launch>
   <!-- Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/3.yaml" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/test_map.yaml" />
 
   <!-- startup ydlidar X2L node -->
   <include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />

src/robot_navigation/maps/3.yaml

@@ -1,7 +0,0 @@
-image: 3.pgm
-resolution: 0.050000
-origin: [-5.000000, -5.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-

src/robot_navigation/maps/blank_map_with_obstacle.yaml

@@ -1,6 +0,0 @@
-image: blank_map_with_obstacle.pgm
-resolution: 0.01
-origin: [-2.5, -2.5, 0]
-occupied_thresh: 0.65
-free_thresh: 0.195 # Taken from the Willow Garage map in the turtlebot_navigation package
-negate: 0

src/robot_navigation/maps/mymap_org.yaml

@@ -1,7 +0,0 @@
-image: mymap.pgm
-resolution: 0.020000
-origin: [-5.000000, -5.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-

src/robot_navigation/maps/test.yaml

@@ -1,7 +0,0 @@
-image: test.pgm
-resolution: 0.050000
-origin: [-5.000000, -16.200000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-