README.md 1020 B
一、由于机器人由启用单个相机变成两个相机，所以话题有多变化
1、只启用了单个相机的机器
/amcl_pose
/camera/color/image_raw
/camera/depth/points
/diagnostics
/locate_info
/obstacle_detection
/odom
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/scan
/scan_map_icp_amcl_node/scan_point_transformed
/sys_info
2、启用了两个相机的机器
/amcl_pose
/ob_camera_01/color/image_raw（上边的摄像头）
/ob_camera_01/depth/points（上边的摄像头）
/ob_camera_02/color/image_raw（下边的摄像头）
/ob_camera_02/depth/points（下边的摄像头）
/diagnostics
/locate_info
/obstacle_detection（有引导任务的时候才会有）
/odom
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/scan
/scan_map_icp_amcl_node/scan_point_transformed
/sys_info