修改地图名为test_map

src/robot_navigation/launch/amcl_teb.launch

@@ -2,7 +2,7 @@
         <include file="$(find robot_bringup)/launch/robot_bringup.launch" />
         
         <!--  ****** Maps *****  -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/3.yaml" output="screen" />
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/test_map.yaml" output="screen" />
 
         <include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />
 

src/robot_navigation/maps/3.yaml

@@ -1,6 +1,6 @@
 image: 3.pgm
 resolution: 0.050000
-origin: [-0.04725, -4.214745, 0.000000]
+origin: [-5.000000, -5.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

src/robot_navigation/maps/test_map.yaml

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