保存&加载地图：

 image:地图文件

resolution:地图分辨率（珊格地图）

origin：地图左下标 第三个参数是偏转角度

 

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加载创建好的yaml文件：

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年轻人第一次导航：

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全局规划器：

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代价地图设置参数：

<launch>

<node pkg="move_base" type="move_base" name="move_base">
        <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
        <param name="base_global_planner" value="global_planner/GlobalPlanner" /> 
        <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
</node>
<node pkg="map_server" type="map_server" name="map_server" args="$(find wpr_simulation)/maps/map.yaml"/>
<node pkg="amcl" type="amcl" name="amcl" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find nav_pkg)/rviz/nav.rviz" />

</launch>

 添加相机：