机器人启动过程

1.机器人底盘launch

1）串口通信节点
2）底层数据发布和订阅节点
3）激光静态变换：base_line->laser，odom->map静态变换
4）激光启动节点
5）速度平滑节点 yocs_velocity_smoother
6）

2.启动move_base和amcl launch

3.启动rviz节点

Trajectories are scored from their endpoints. This means that setting the sim_time parameter to different values can have a large affect on how the robot behaves. I normally set this parameter to between 1-2 seconds, where setting it higher can result in slightly smoother trajectories, making sure that the minimum velocity multiplied by the sim_period is less than twice my tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.