# planner_ws

**Repository Path**: smartgo_robot/planner_ws

## Basic Information

- **Project Name**: planner_ws
- **Description**: 路径规划仿真
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2020-08-25
- **Last Updated**: 2024-11-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### 路径规划仿真包

### 下载和编译
- 编译
```
git clone https://gitee.com/smartgo_robot/planner_ws.git
cd planner_ws
catkin_make
```
- 添加环境变量
```
echo "source .../planner_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
```

### 全局路径规划
- 启动TurtleBot仿真程序
```
roslaunch rbx1_bringup fake_turtlebot.launch
```
- 启动全局规划仿真程序
```
roslaunch rbx1_nav test_global_planner.launch map:=global_planner.yaml
```
- 启动Rviz
```
rosrun rviz rviz -d `rospack find rbx1_nav`/global_planner.rviz
```


### 局部路径规划
- 启动TurtleBot仿真程序
```
roslaunch rbx1_bringup fake_turtlebot.launch
```
- 启动局部规划仿真程序
```
roslaunch rbx1_nav test_local_planner.launch map:=global_planner.yaml
```
- 启动Rviz
```
rosrun rviz rviz -d `rospack find rbx1_nav`/local_planner.rviz
```