# fishros_simulation

**Repository Path**: cheng_x131/fishros_simulation

## Basic Information

- **Project Name**: fishros_simulation
- **Description**: 用Ubuntu 24.04，jazzy，gazebosim（harmonic）实现小车导航（学习中）
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-03-26
- **Last Updated**: 2026-03-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

1.清除可能的节点
pkill -f "ros2 launch first_bot_navigation"
pkill -f "ros2 launch first_bot_description"
pkill -f "slam_toolbox"
pkill -f "amcl"
pkill -f "map_server"
pkill -f "controller_server"
pkill -f "planner_server"
pkill -f "behavior_server"
pkill -f "bt_navigator"
pkill -f "lifecycle_manager"
pkill -f "route_server"
pkill -f "smoother_server"
pkill -f "velocity_smoother"
pkill -f "collision_monitor"
pkill -f "waypoint_follower"
pkill -f "docking_server"
pkill -f "gz sim"
pkill -f "rviz"
pkill -f "first_bot_control"
pkill -f "robot_state_publisher"
pkill -f "ekf_node"
pkill -f "bridge_node"
pkill -f "static_transform_publisher"

2.生命周期
source install/setup.bash
ros2 lifecycle set /planner_server activate
ros2 lifecycle set /behavior_server activate
ros2 lifecycle set /bt_navigator activate
3.如果rviz闪退，（GUI问题）
source install/setup.bash
ros2 launch first_bot_navigation navigation.launch.py rviz:=false teleop:=false map:=/home/xxc/nav_projects/create_bot_model/src/first_bot_navigation/maps/first_map.yaml

LIBGL_ALWAYS_SOFTWARE=1 rviz2 -d /opt/ros/jazzy/share/nav2_bringup/rviz/nav2_default_view.rviz

目前存在问题：导航不准，可能和建图时发生的问题一样，因为是摩擦力不够