{"id":1273,"date":"2026-05-13T17:53:24","date_gmt":"2026-05-13T09:53:24","guid":{"rendered":"https:\/\/www.kakosci.com\/?p=1273"},"modified":"2026-05-14T17:33:09","modified_gmt":"2026-05-14T09:33:09","slug":"%e6%97%a0%e4%ba%ba%e6%9c%baros2%ef%bc%88rtab-map%ef%bc%89%e8%a7%86%e8%a7%89%e9%87%8c%e7%a8%8b%e8%ae%a1%ef%bc%88%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%ef%bc%89%ef%bc%9a%e4%bb%bf%e7%9c%9f%e5%ae%9e","status":"publish","type":"post","link":"https:\/\/www.kakosci.com\/index.php\/2026\/05\/13\/%e6%97%a0%e4%ba%ba%e6%9c%baros2%ef%bc%88rtab-map%ef%bc%89%e8%a7%86%e8%a7%89%e9%87%8c%e7%a8%8b%e8%ae%a1%ef%bc%88%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%ef%bc%89%ef%bc%9a%e4%bb%bf%e7%9c%9f%e5%ae%9e\/","title":{"rendered":"\u65e0\u4eba\u673aROS2\uff08RTAB-Map\uff09\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08\u6df1\u5ea6\u76f8\u673a\uff09\uff1a\u4eff\u771f&amp;\u5b9e\u673a"},"content":{"rendered":"\n<p>\u56e0\u4e3a\u60f3\u8981\u5728\u65e0GNSS\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u65e0\u4eba\u673aPosition\u6a21\u5f0f\u7684\u98de\u884c\uff0c\u5c31\u5f97\u4e3a\u98de\u63a7\u5b9e\u65f6\u63d0\u4f9b\u4e00\u4e2a\u72b6\u6001\/\u4f4d\u7f6e\u4f30\u8ba1\uff0c\u53ef\u4ee5\u662f\u6fc0\u5149\u6216\u8005\u89c6\u89c9\u91cc\u7a0b\u8ba1\u3002\u8fd9\u6b21\u5148\u7528\u6df1\u5ea6\u76f8\u673a\u505a\u4e2a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u56e0\u4e3a\u8fd8\u6ca1\u6709\u4e70\u6fc0\u5149\u96f7\u8fbe\u607c\uff08\u8865\u5145\uff1a\u5f53\u8fd9\u7bc7\u63a8\u6587\u53d1\u5e03\u65f6\uff0c\u5176\u5b9e\u5df2\u7ecf\u4e70mid-360\u4e86\uff09\u3002\u672c\u6765\u8fd8\u60f3\u914d\u5408\u98de\u63a7\u7684IMU\u6570\u636e\u7684\u4f46\u662f\u4e00\u76f4\u5931\u8d25\u6240\u4ee5\u8fd9\u7bc7\u7eaf\u89c6\u89c9\u4e86\u60b2\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4eff\u771f\u914d\u7f6e\uff1a\u60e0\u666e\u6697\u5f71\u7cbe\u707511\u53f0\u5f0f\uff08i7\uff0c5060ti\uff09\u3001Ubuntu 22.04 LST\u3001ROS2 Humble\u3001PX4 1.16.0\u3001Gazebo Harmonic\uff1b<\/li>\n\n\n\n<li>\u5b9e\u673a\u914d\u7f6e\uff1a650\u8f74\u8ddd\u673a\u67b6\u3001Pixhawk 6c mini\uff08PX4 1.16.0\uff09\u3001\u8f6e\u8da3Orbbec\u53cc\u76ee\u7ed3\u6784\u5149\u6df1\u5ea6\u76f8\u673a\uff08\u65e0IMU\uff09\u3001Jetson Orin NX Super 16G\uff08JetPack 6 \/ Ubuntu 22.04 LST\u3001ROS2 Humble\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\uff08\u6ce8\uff1a\u4e0d\u5305\u542bROS2\u548cRTAB-Map\u5b89\u88c5\u6b65\u9aa4\uff09<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4eff\u771f<\/h2>\n\n\n\n<p>\u4eff\u771f\u7684<strong>\u524d\u7f6e\u6280\u672f<\/strong>\uff08\u5305\u62ec\u4eff\u771f\u5e73\u53f0\u57fa\u7840\u642d\u5efa\u3001\u7406\u89e3\u4e16\u754c\u573a\u666f\u4e0e\u4f20\u611f\u5668\u3001\u65e0\u4eba\u673a\u6a21\u578b\u7b49\u662f\u4ec0\u4e48\u6837\u7684\u4ee5\u53ca\u5982\u4f55\u81ea\u5b9a\u4e49\u6784\u5efa\uff09\uff0c\u53c2\u8003\u4e0b\u9762\u4e24\u7bc7\u6587\u7ae0\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-kako-academy-of-sciences wp-block-embed-kako-academy-of-sciences\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"video-container\"><blockquote class=\"wp-embedded-content\" data-secret=\"8FkmjkBo1u\"><a href=\"https:\/\/www.kakosci.com\/index.php\/2025\/11\/29\/ubuntu-22-04-lts-%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bb%bf%e7%9c%9f%e7%ba%aa%e5%ae%9e%ef%bc%88ros2px4gazebo%ef%bc%89\/\">Ubuntu 22.04 LTS \u65e0\u4eba\u673a\u4eff\u771f\u7eaa\u5b9e\uff08ROS2+PX4+Gazebo\uff09<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u300a Ubuntu 22.04 LTS \u65e0\u4eba\u673a\u4eff\u771f\u7eaa\u5b9e\uff08ROS2+PX4+Gazebo\uff09 \u300b\u2014KAKO Academy of Sciences\" src=\"https:\/\/www.kakosci.com\/index.php\/2025\/11\/29\/ubuntu-22-04-lts-%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bb%bf%e7%9c%9f%e7%ba%aa%e5%ae%9e%ef%bc%88ros2px4gazebo%ef%bc%89\/embed\/#?secret=t1woLeC6tg#?secret=8FkmjkBo1u\" data-secret=\"8FkmjkBo1u\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/div>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-kako-academy-of-sciences wp-block-embed-kako-academy-of-sciences\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"video-container\"><blockquote class=\"wp-embedded-content\" data-secret=\"FiEQDpsHJa\"><a href=\"https:\/\/www.kakosci.com\/index.php\/2025\/12\/29\/px4gazebo%e4%bb%bf%e7%9c%9f%ef%bc%8c%e8%87%aa%e5%ae%9a%e4%b9%89world%e5%9c%ba%e6%99%af%e5%92%8c%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bc%a0%e6%84%9f%e5%99%a8model%e5%8f%8a%e5%b1%9e%e6%80%a7\/\">PX4+Gazebo\u4eff\u771f\uff0c\u81ea\u5b9a\u4e49world\u573a\u666f\u548c\u65e0\u4eba\u673a\u4f20\u611f\u5668model\u53ca\u5c5e\u6027<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u300a PX4+Gazebo\u4eff\u771f\uff0c\u81ea\u5b9a\u4e49world\u573a\u666f\u548c\u65e0\u4eba\u673a\u4f20\u611f\u5668model\u53ca\u5c5e\u6027 \u300b\u2014KAKO Academy of Sciences\" src=\"https:\/\/www.kakosci.com\/index.php\/2025\/12\/29\/px4gazebo%e4%bb%bf%e7%9c%9f%ef%bc%8c%e8%87%aa%e5%ae%9a%e4%b9%89world%e5%9c%ba%e6%99%af%e5%92%8c%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bc%a0%e6%84%9f%e5%99%a8model%e5%8f%8a%e5%b1%9e%e6%80%a7\/embed\/#?secret=HvGZK395KV#?secret=FiEQDpsHJa\" data-secret=\"FiEQDpsHJa\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/div>\n<\/div><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u4e0e\u81ea\u5df1\u5b9e\u9645\u7684\u8bbe\u5907\u7edf\u4e00\uff0c\u6539\u4e0b\u4eff\u771f\u6df1\u5ea6\u76f8\u673a\u7684\u53c2\u6570\uff0c\u5176\u5728\u8bbe\u5907\u7684\u914d\u7f6e\u6587\u4ef6\u4e2d\u8868\u73b0\u4e3acamera\u548cdepth_camera\u4e24\u4e2a\u4f20\u611f\u5668\uff0c\u5206\u522b\u63d0\u4f9b\u5f69\u8272\u548c\u6df1\u5ea6\u56fe\u8bdd\u9898\u3002\u8fd9\u91cc\u628a\u56fe\u50cf\u5c3a\u5bf8\u90fd\u6539\u6210640*400\uff0c\u89c6\u573a\u89d2FOV\u4e5f\u7edf\u4e00\u4e3a1.185\uff0c\u8fd9\u6837\u540e\u9762\u5c31\u4e0d\u9700\u8981\u518d\u591a\u505a\u4e2a\u5bf9\u9f50\u3002\u4e70\u7684\u4fbf\u5b9c\u76f8\u673a\u7684\u6df1\u5ea6\u56fe\u6709\u6548\u8303\u56f4\u5b9e\u9645\u4e0a\u53ea\u52302.5\u7c73\uff08\u607c\u597d\u4f4e\uff09\uff0c\u8fd9\u5728\u540e\u9762\u4f7f\u7528\u91cc\u7a0b\u8ba1\u65f6\u4f1a\u4f53\u73b0\u4e3a\u7279\u5f81\u70b9\u5b8c\u5168\u4e0d\u591f\u800cSLAM\u4e2d\u65ad\uff0c\u6240\u4ee5\u8fd9\u91cc\u4e3a\u4e86\u65b9\u4fbf\u5148\u76f4\u63a5\u8bbe\u4e2a20\u7c73\uff08\u607c\u597d\u9ad8\uff0c\u53d8\u6210\u6fc0\u5149\u96f7\u8fbe\u4e86\uff09\u3002\u987a\u4fbf\u7ed9\u5f69\u8272\u56fe\u52a0\u4e86&lt;topic&gt;color&lt;\/topic&gt;\u6807\u7b7e\uff0c\u4e4b\u540e\u7528ros2\u65b9\u4fbf\u4e00\u70b9\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code has-medium-font-size\"><code lang=\"xml\" class=\"language-xml\">      &lt;sensor name=\"IMX214\" type=\"camera\"&gt;\n        &lt;pose&gt;0.01233 -0.03 .01878 0 0 0&lt;\/pose&gt;\n        &lt;camera&gt;\n          &lt;horizontal_fov&gt;1.185&lt;\/horizontal_fov&gt;\n          &lt;image&gt;\n            &lt;width&gt;640&lt;\/width&gt;\n            &lt;height&gt;400&lt;\/height&gt;\n          &lt;\/image&gt;\n          &lt;clip&gt;\n            &lt;near&gt;0.1&lt;\/near&gt;\n            &lt;far&gt;100&lt;\/far&gt;\n          &lt;\/clip&gt;\n        &lt;\/camera&gt;\n        &lt;always_on&gt;1&lt;\/always_on&gt;\n        &lt;update_rate&gt;30&lt;\/update_rate&gt;\n        &lt;visualize&gt;true&lt;\/visualize&gt;\n        &lt;topic&gt;color&lt;\/topic&gt;\n      &lt;\/sensor&gt;\n      &lt;sensor name=\"StereoOV7251\" type=\"depth_camera\"&gt;\n        &lt;pose&gt;0.01233 -0.03 .01878 0 0 0&lt;\/pose&gt;\n        &lt;camera&gt;\n          &lt;horizontal_fov&gt;1.185&lt;\/horizontal_fov&gt;\n          &lt;image&gt;\n            &lt;width&gt;640&lt;\/width&gt;\n            &lt;height&gt;400&lt;\/height&gt;\n            &lt;format&gt;R_FLOAT32&lt;\/format&gt;\n          &lt;\/image&gt;\n          &lt;clip&gt;\n            &lt;near&gt;0.25&lt;\/near&gt;\n            &lt;far&gt;20&lt;\/far&gt;\n          &lt;\/clip&gt;\n        &lt;\/camera&gt;\n        &lt;always_on&gt;1&lt;\/always_on&gt;\n        &lt;update_rate&gt;30&lt;\/update_rate&gt;\n        &lt;visualize&gt;true&lt;\/visualize&gt;\n        &lt;topic&gt;depth&lt;\/topic&gt;\n      &lt;\/sensor&gt;<\/code><\/pre>\n\n\n\n<p>\u7136\u540e\u662f\u5f00\u542f\u4eff\u771f\uff0c\u521b\u5efatf\u5750\u6807\u6811\u8f6c\u6362\u4e0egz\u8bdd\u9898\u6865\u63a5\uff0c\u4e0b\u9762\u7684\u6bcf\u53e5\u6307\u4ee4\u90fd\u9700\u8981\u5355\u72ec\u4e00\u4e2aterminal\u3002\u5b9e\u9645\u4e0a\u53ef\u4ee5\u6574\u5408\u4e3a\u4e00\u4e2apython\u7684launch\u6587\u4ef6\u6765\u542f\u52a8\uff0c\u4f46\u662f\u4eff\u771f\u4e0a\u6211\u8fd8\u6ca1\u5199\uff0c\u540e\u9762\u7684\u5b9e\u673a\u7ae0\u8282\u7528\u7684\u5c31\u662flaunch\u811a\u672c\u4e86\uff0c\u7136\u800c\u5b9e\u9645\u4e5f\u4e0d\u7528\u624b\u52a8\u5f00\u8fd9\u4e48\u591a\u8f6c\u6362\u548c\u6865\u63a5\u5c31\u662f\u4e86\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">PX4_GZ_MODEL_POSE=-17.7,3.2,1.4,0,0,0 PX4_GZ_WORLD=historyM make px4_sitl gz_x500_livox  # \u662f\u4e4b\u524d\u6587\u7ae0\u4e2d\u81ea\u5b9a\u4e49\u7684\u6574\u673a\n\nros2 run tf2_ros static_transform_publisher .12 .03 .242 0 0 0 base_link x500_livox_0\/camera_link\/IMX214\n\nros2 run tf2_ros static_transform_publisher .12 .03 .242 0 0 0 base_link x500_livox_0\/camera_link\/StereoOV7251\n\nros2 run ros_gz_bridge parameter_bridge \/color@sensor_msgs\/msg\/Image@gz.msgs.Image\n\nros2 run ros_gz_bridge parameter_bridge \/depth@sensor_msgs\/msg\/Image@gz.msgs.Image\n\nros2 run ros_gz_bridge parameter_bridge \/camera_info@sensor_msgs\/msg\/CameraInfo@gz.msgs.CameraInfo<\/code><\/pre>\n\n\n\n<p>\u542f\u52a8rtab\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ros2 launch rtabmap_launch rtabmap.launch.py \\\n    rtabmap_args:=\"--delete_db_on_start\" \\\n    rgb_topic:=\/color \\\n    depth_topic:=\/depth \\\n    camera_info_topic:=\/camera_info \\\n    frame_id:=base_link \\\n    approx_sync:=true \\\n    use_sim_time:=true \\\n    topic_queue_size:=100 \\\n    sync_queue_size:=100 \\\n    wait_for_transform:=0.2 \\\n    visual_odometry:=true \\\n    rtabmap_viz:=true \\\n    rviz:=false<\/code><\/pre>\n\n\n\n<p>\u4e0b\u9762\u8fd9\u6837\u5c31\u6210\u529f\u4e86\uff0c\u5730\u56fe\u3001\u8def\u5f84\u7b49\u6570\u636e\u4f1a\u88ab\u8bb0\u5f55\u5230~\/.ros\/rtabmap.db\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"720\" style=\"aspect-ratio: 1280 \/ 720;\" width=\"1280\" controls src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/slam-online-video-cutter.com_.mp4\"><\/video><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u5b9e\u673a<\/h2>\n\n\n\n<p>\u5b9e\u673a\u4f7f\u7528\u7684\u6df1\u5ea6\u76f8\u673a\u4e0e\u4e4b\u524d\u8fd9\u7bc7\u6587\u7ae0\u76f8\u540c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-kako-academy-of-sciences wp-block-embed-kako-academy-of-sciences\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"video-container\"><blockquote class=\"wp-embedded-content\" data-secret=\"YJH8s1QqH5\"><a href=\"https:\/\/www.kakosci.com\/index.php\/2025\/12\/15\/%e4%be%bf%e5%ae%9c%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%e5%90%af%e7%94%a8%e5%b8%a6%e5%85%89%e5%ad%a6%e8%89%b2%e5%bd%a9%e7%9a%84%e6%b7%b1%e5%ba%a6%e7%82%b9%e4%ba%91%ef%bc%88enable_colored_point_cloud\/\">\u4fbf\u5b9c\u6df1\u5ea6\u76f8\u673a\u542f\u7528\u5e26\u5149\u5b66\u8272\u5f69\u7684\u6df1\u5ea6\u70b9\u4e91\uff08enable_colored_point_cloud\uff09<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"\u300a \u4fbf\u5b9c\u6df1\u5ea6\u76f8\u673a\u542f\u7528\u5e26\u5149\u5b66\u8272\u5f69\u7684\u6df1\u5ea6\u70b9\u4e91\uff08enable_colored_point_cloud\uff09 \u300b\u2014KAKO Academy of Sciences\" src=\"https:\/\/www.kakosci.com\/index.php\/2025\/12\/15\/%e4%be%bf%e5%ae%9c%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%e5%90%af%e7%94%a8%e5%b8%a6%e5%85%89%e5%ad%a6%e8%89%b2%e5%bd%a9%e7%9a%84%e6%b7%b1%e5%ba%a6%e7%82%b9%e4%ba%91%ef%bc%88enable_colored_point_cloud\/embed\/#?secret=q0UauvSXv5#?secret=YJH8s1QqH5\" data-secret=\"YJH8s1QqH5\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/div>\n<\/div><\/figure>\n\n\n\n<p>\u6bd4\u8f83\u5751\u7684\u662f\uff0c\u5356\u5bb6\u7ed9\u7684\u624b\u518c\u6559\u4e86\u600e\u4e48\u7ed9\u5f69\u8272\u56fe\u8bdd\u9898\u5c3a\u5bf8\uff08640*480\uff09\u5339\u914d\u5e76\u4fee\u6539\u5f97\u8ddf\u6df1\u5ea6\u56fe\uff08640*400\uff09\u4e00\u81f4\uff0c\u7136\u800c\u7167\u505a\u4e4b\u540e\u5bfc\u81f4\u6211\u5f88\u957f\u65f6\u95f4\u4ee5\u6765\u5b9e\u673artab\u90fd\u8dd1\u4e0d\u51fa\u5efa\u56fe\u6765\uff0c\u6700\u540e\u53d1\u73b0\u662f\u56e0\u4e3a\u90a3\u4e2a\u4fee\u6539\uff0c\u5f69\u8272\u56fe\u8bdd\u9898\u8ddf\u76f8\u673a\u5185\u53c2\u8bdd\u9898\u51b2\u7a81\u4e86\u2026\u2026\u5df2\u6ca1\u62db\u3002\u800crtab\u5176\u5b9e\u5e76\u4e0d\u8981\u6c42color\u548cdepth\u5f62\u72b6\u5b8c\u5168\u4e00\u81f4\u6240\u4ee5\u6539\u56de\u53bb\u5c31\u597d\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u5728\u5b9e\u673a\u7684jetson\u4e0a\u5199\u542f\u52a8\u4ee3\u7801\u3002\u6211\u653e\u5728\u4e86\u81ea\u5df1\u521b\u5efa\u7684slam\u529f\u80fd\u5305\u7684launch\u6587\u4ef6\u5939\u4e0b\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"python\" class=\"language-python\">import os\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch_xml.launch_description_sources import XMLLaunchDescriptionSource\nfrom launch_ros.actions import Node\nfrom ament_index_python.packages import get_package_share_directory\n\ndef generate_launch_description():\n    \n    # 1. \u542f\u52a8 Astra \u76f8\u673a (\u4f7f\u7528 XML Launch)\n    astra_camera_launch = IncludeLaunchDescription(\n        XMLLaunchDescriptionSource(\n            os.path.join(get_package_share_directory('astra_camera'), 'launch', 'gemini.launch.xml')\n        )\n    )\n\n    # 2. \u76f8\u673a\u5750\u6807\u8f6c\u6362 (Static TF)\n    static_tf_node = Node(\n        package='tf2_ros',\n        executable='static_transform_publisher',\n        name='base_to_camera_tf',\n        # ROS 2 static_transform_publisher \u683c\u5f0f: x y z roll pitch yaw frame_id child_frame_id\n        arguments=['0.11', '0', '-0.025', '0', '0', '0', 'base_link', 'camera_link']\n    )\n\n    # 3. \u542f\u52a8 RTAB-Map \u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\n    # \u5904\u7406 '~' \u8def\u5f84\uff0c\u5c06\u5176\u5c55\u5f00\u4e3a\u7edd\u5bf9\u8def\u5f84\n    database_path = os.path.expanduser('~\/WushanPilot\/src\/slam\/rtabmap.db')\n    \n    rtabmap_launch = IncludeLaunchDescription(\n        PythonLaunchDescriptionSource(\n            os.path.join(get_package_share_directory('rtabmap_launch'), 'launch', 'rtabmap.launch.py')\n        ),\n        launch_arguments={\n            'rtabmap_args': '--delete_db_on_start',\n            'rgb_topic': '\/camera\/color\/image_raw',\n            'depth_topic': '\/camera\/depth\/image_raw',\n            'camera_info_topic': '\/camera\/color\/camera_info',\n            'frame_id': 'base_link',\n            'approx_sync': 'true',\n            'wait_for_transform': '0.3',\n            'visual_odometry': 'true',    \n            \n            'topic_queue_size': '100',\n            'sync_queue_size': '100',\n            \n            'qos': '1',\n            'qos_camera_info': '1',\n            'qos_image': '1',\n            'qos_depth': '1',\n            \n            'database_path': database_path,\n            'rtabmap_viz': 'false',\n            'rviz': 'false'\n        }.items()\n    )\n\n    # \u6c47\u603b\u6240\u6709\u542f\u52a8\u9879\u5e76\u8fd4\u56de\n    return LaunchDescription([\n        astra_camera_launch,\n        static_tf_node,\n        rtabmap_launch\n    ])\n<\/code><\/pre>\n\n\n\n<p>\u518d\u4f7f\u7528colcon\u7f16\u8bd1\u8fd9\u4e2a\u5305\u540e\u5c31\u80fdros2 launch slam xxx.py\u5373\u53ef\u542f\u52a8slam\u3002\u6ce8\u610f\u4f7f\u7528launch\u662f\u9700\u8981\u4fee\u6539\u529f\u80fd\u5305\u4e2dsetup.py\u5185\u5bb9\u7684\uff0c\u5177\u4f53\u7f51\u4e0a\u6709\u5f88\u591a\u6559\u7a0b\u3002\u76ee\u524d\u53ea\u662f\u5728\u529e\u516c\u5ba4\u91cc\u624b\u62ff\u7740\u65e0\u4eba\u673a\u505a\u7684\u5b9a\u4f4d\u548c\u5efa\u56fe\uff0c\u5728\u5b9e\u9645\u6237\u5916\u98de\u7684\u65f6\u5019\u8fd8\u9047\u5230\u4e86\u5f88\u591a\u95ee\u9898\uff0c\u4e3b\u8981\u6df1\u5ea6\u76f8\u673a\u7684\u6027\u80fd\u8fd8\u662f\u4e0d\u592a\u591f\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"633\" height=\"636\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image.png\" alt=\"\" class=\"wp-image-1327\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image.png 633w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2026\/05\/image-300x300.png 300w, 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Mid-360S\u6fc0\u5149\u96f7\u8fbe\u76f8\u5173\u7684\uff0c\u751a\u81f3\u7528Fast-lio2\u6765\u72b6\u6001\u4f30\u8ba1\u4ec0\u4e48\u7684\u5427\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u56e0\u4e3a\u60f3\u8981\u5728\u65e0GNSS\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u65e0\u4eba\u673aPosition\u6a21\u5f0f\u7684\u98de\u884c\uff0c\u5c31\u5f97\u4e3a\u98de\u63a7\u5b9e\u65f6&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":1333,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[87,95,93],"tags":[91,88,116,114,117,115],"class_list":["post-1273","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-87","category-ros2","category-93","tag-ros2","tag-88","tag-116","tag-114","tag-117","tag-115"],"_links":{"self":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1273","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/comments?post=1273"}],"version-history":[{"count":59,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1273\/revisions"}],"predecessor-version":[{"id":1346,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1273\/revisions\/1346"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media\/1333"}],"wp:attachment":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media?parent=1273"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/categories?post=1273"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/tags?post=1273"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}