1.地图设置
master地图是所有地图的总和
Obstacles地图是在恢复行为使用的
ClearCostmapRecovery
重置行为，消除reset_distance外的 Obstacles地图
RotateRecovery
旋转清除，旋转清除障碍物信息，就是机器人选装一圈
代码如下
global_costmap:global_frame: maprobot_base_frame: base_footprintstatic_map: trueupdate_frequency: 1.0publish_frequency: 1.0transform_tolerance: 1.0recovery_behaviors:- name: 'conservative_reset'type: 'clear_costmap_recovery/ClearCostmapRecovery'- name: 'rotate_recovery'type: 'rotate_recovery/RotateRecovery'- name: 'aggressive_reset'type: 'clear_costmap_recovery/ClearCostmapRecovery'conservative_reset:reset_distance: 2.0layer_names: ["obstacle_layer"]aggressive_reset:reset_distance: 0.0layer_names: ["obstacle_layer"]在这里需要注意的细节是
conservative_reset:reset_distance: 2.0layer_names: ["obstacle_layer"]aggressive_reset:reset_distance: 0.0layer_names: ["obstacle_layer"]这里的layer_name需要指定 "obstacle_layer"，否则会导致导航失败
