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README.md

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调试时启动脚本

source /root/ros2_ws/install/setup.bash && ros2 launch bringup bringup.launch.py map_name:=$MAP_NAME floor_name:=$FLOOR

启动导航模式

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'EnableNavigation'"

站立趴下切换

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StandUpDown'"

切换到楼梯模式

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StairsGait'"

切换到平地步态

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'OrdinaryGait'"

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StayNormal'"

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StayDown'"

发布速度指令

ros2 topic pub /GS_003/cmd_vel geometry_msgs/msg/Twist "linear: x: -0.1 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"