# cod-sentry

**Repository Path**: dai-21/cod-sentry

## Basic Information

- **Project Name**: cod-sentry
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-04
- **Last Updated**: 2025-12-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#  导航Demo
  ##  介绍
  -   环境
      - ros2 humble
      - Ubuntu 22.04
      - Gazebo
  ##  使用
  ### 1、先建图再导航  
  -   编译
      - colcon build --symlink
      - source install/setup.bash
  -   建图
      - ros2 launch simulation dynamics.launch.py
      - ros2 launch fast_lio mapping.launch.py
  -   小键盘输入控制
      - ros2 run teleop_twist_keyboard teleop_twist_keyboard
  -   保存PCD地图
      - ros2 service call /map_save std_srvs/srv/Trigger
  -   地图转换
      - ros2 launch pcd2pgm pcd2pgm_launch.py
  -   保存地图
      - ros2 run nav2_map_server map_saver_cli -f <YOUR_MAP_NAME>
  -   运行导航
      - ros2 launch cod_bringup tb3_simulation_launch.py

   ### 2、边导航边建图
  -   编译
      - colcon build --symlink
      - source install/setup.bash
  -   运行
      - ros2 launch simulation dynamics.launch.py
      - ros2 launch cod_bringup slam_launch.py