apt-get install ros-indigo-yocs-velocity-smoother

# Example configuration:

# - velocity limits are around a 10% above the physical limits

# - acceleration limits are just low enough to avoid jerking

# Mandatory parameters

speed_lim_v: 0.8

speed_lim_w: 5.4

accel_lim_v: 0.3

accel_lim_w: 3.5

# Optional parameters

frequency: 20.0

decel_factor: 1.0

# Robot velocity feedback type:

#  0 - none

#  1 - odometry

#  2 - end robot commands

robot_feedback: 2

<launch>

    <param name="use_sim_time" value="false" />

    <node name="link_laser" pkg="tf" type="static_transform_publisher" args="0.15 0 0.15 0 0 0 base_link laser 50"/>

    <node name="link_footprint" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 50"/>

    <node pkg="odom_tf_package" type="base_controller" name="serial_send_recevice" output="screen"/>

    <include file="$(find odom_tf_package)/launch/include/rplidar.launch" />

  <arg name="node_name"             value="velocity_smoother"/>

  <arg name="nodelet_manager_name"  value="nodelet_manager"/>

  <arg name="config_file"           value="$(find odom_tf_package)/config/standalone.yaml"/>

  <arg name="raw_cmd_vel_topic"     value="cmd_vel"/>

  <arg name="smooth_cmd_vel_topic"  value="smoother_cmd_vel"/>

  <arg name="robot_cmd_vel_topic"   value="robot_cmd_vel"/>

  <arg name="odom_topic"            value="odom"/>

  <!-- nodelet manager -->

  <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>

  <!-- velocity smoother -->

  <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">

    <arg name="node_name"             value="$(arg node_name)"/>

    <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>

    <arg name="config_file"           value="$(arg config_file)"/>

    <arg name="raw_cmd_vel_topic"     value="$(arg raw_cmd_vel_topic)"/>

    <arg name="smooth_cmd_vel_topic"  value="$(arg smooth_cmd_vel_topic)"/>

    <arg name="robot_cmd_vel_topic"   value="$(arg robot_cmd_vel_topic)"/>

    <arg name="odom_topic"            value="$(arg odom_topic)"/>

  </include>

</launch>

<launch>

  <arg name="scan_topic" default="scan" />  //laser的topic名称，与自己的激光的topic相对应

   <param name="odom_frame" value="odom"/>  //世界坐标

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">   //启动slam的节点

    <param name="map_update_interval" value="2.0"/>

    <!-- Set maxUrange < actual maximum range of the Laser -->

    <param name="maxRange" value="5.0"/>

    <param name="maxUrange" value="4.5"/>

    <param name="sigma" value="0.05"/>

    <param name="kernelSize" value=""/>

    <param name="lstep" value="0.05"/>  //optimize机器人移动的初始值（距离）

    <param name="astep" value="0.05"/>  //optimize机器人移动的初始值（角度）

    <param name="iterations" value=""/>    //icp的迭代次数

    <param name="lsigma" value="0.075"/>

    <param name="ogain" value="3.0"/>

    <param name="lskip" value=""/> //为0,表示所有的激光都处理，尽可能为零，如果计算压力过大，可以改成1

    <param name="srr" value="0.01"/>    //以下四个参数是运动模型的噪声参数

    <param name="srt" value="0.02"/>

    <param name="str" value="0.01"/>

    <param name="stt" value="0.02"/>

    <param name="linearUpdate" value="0.5"/>    //机器人移动linearUpdate距离，进行scanmatch

    <param name="angularUpdate" value="0.5"/>   //机器人选装angularUpdate角度，进行scanmatch

    <param name="temporalUpdate" value="-1.0"/>

    <param name="resampleThreshold" value="0.5"/>

    <param name="particles" value=""/>        //很重要，粒子个数

<!--

    <param name="xmin" value="-50.0"/>

    <param name="ymin" value="-50.0"/>

    <param name="xmax" value="50.0"/>

    <param name="ymax" value="50.0"/>

  make the starting size small for the benefit of the Android client's memory...

  -->

    <param name="xmin" value="-1.0"/>   //map初始化的大小

    <param name="ymin" value="-1.0"/>

    <param name="xmax" value="1.0"/>

    <param name="ymax" value="1.0"/>

    <param name="delta" value="0.05"/>

    <param name="llsamplerange" value="0.01"/>

    <param name="llsamplestep" value="0.01"/>

    <param name="lasamplerange" value="0.005"/>

    <param name="lasamplestep" value="0.005"/>

    <remap from="scan" to="$(arg scan_topic)"/>

  </node>

</launch>

<launch>

  <param name="use_sim_time" value="false" />
  
  <!-- EDIT THIS LINE TO REFLECT THE NAME OF YOUR OWN MAP FILE 
       Can also be overridden on the command line -->
  <arg name="map" default="map.yaml" />

  <!-- Run the map server with the desired map -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_tutorials)/maps/$(arg map)"/>

  <!-- Start move_base  -->
  <include file="$(find navigation_tutorials)/launch/tb_move_base.launch" />

  <!-- Fire up AMCL -->
  <include file="$(find navigation_tutorials)/launch/tb_amcl.launch" />
  
</launch>

<launch>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">

    <rosparam file="$(find rbx1_nav)/config/turtlebot/costmap_common_params.yaml" command="load" ns="global_costmap" />

    <rosparam file="$(find rbx1_nav)/config/turtlebot/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find rbx1_nav)/config/turtlebot/local_costmap_params.yaml" command="load" />

    <rosparam file="$(find rbx1_nav)/config/turtlebot/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find rbx1_nav)/config/turtlebot/base_local_planner_params.yaml" command="load" />

  </node>

</launch>

<launch>

  <arg name="use_map_topic" default="false"/>

  <arg name="scan_topic" default="scan"/>

  <node pkg="amcl" type="amcl" name="amcl" clear_params="true">

    <param name="use_map_topic" value="$(arg use_map_topic)"/>

    <!-- Publish scans from best pose at a max of 10 Hz -->

    <param name="odom_model_type" value="diff"/>

    <param name="odom_alpha5" value="0.1"/>

    <param name="gui_publish_rate" value="10.0"/>

    <param name="laser_max_beams" value="60"/>

    <param name="laser_max_range" value="12.0"/>

    <param name="min_particles" value="500"/>

    <param name="max_particles" value="2000"/>

    <param name="kld_err" value="0.05"/>

    <param name="kld_z" value="0.99"/>

    <param name="odom_alpha1" value="0.2"/>

    <param name="odom_alpha2" value="0.2"/>

    <!-- translation std dev, m -->

    <param name="odom_alpha3" value="0.2"/>

    <param name="odom_alpha4" value="0.2"/>

    <param name="laser_z_hit" value="0.5"/>

    <param name="laser_z_short" value="0.05"/>

    <param name="laser_z_max" value="0.05"/>

    <param name="laser_z_rand" value="0.5"/>

    <param name="laser_sigma_hit" value="0.2"/>

    <param name="laser_lambda_short" value="0.1"/>

    <param name="laser_model_type" value="likelihood_field"/>

    <!-- <param name="laser_model_type" value="beam"/> -->

    <param name="laser_likelihood_max_dist" value="2.0"/>

    <param name="update_min_d" value="0.25"/>

    <param name="update_min_a" value="0.2"/>

    <param name="odom_frame_id" value="odom"/>

    <param name="resample_interval" value="1"/>

    <!-- Increase tolerance because the computer can get quite busy -->

    <param name="transform_tolerance" value="1.0"/>

    <param name="recovery_alpha_slow" value="0.0"/>

    <param name="recovery_alpha_fast" value="0.0"/>

    <remap from="scan" to="$(arg scan_topic)"/>

  </node>

</launch>

controller_frequency: 3.0

recovery_behavior_enabled: false

clearing_rotation_allowed: false

TrajectoryPlannerROS:

   max_vel_x: 0.3

   min_vel_x: 0.05

   max_vel_y: 0.0  # zero for a differential drive robot

   min_vel_y: 0.0

   min_in_place_vel_theta: 0.5

   escape_vel: -0.1

   acc_lim_x: 2.5

   acc_lim_y: 0.0 # zero for a differential drive robot

   acc_lim_theta: 3.2

   holonomic_robot: false

   yaw_goal_tolerance: 0.1 # about 6 degrees

   xy_goal_tolerance: 0.15  # 10 cm

   latch_xy_goal_tolerance: false

   pdist_scale: 0.8

   gdist_scale: 0.6

   meter_scoring: true

   heading_lookahead: 0.325

   heading_scoring: false

   heading_scoring_timestep: 0.8

   occdist_scale: 0.1

   oscillation_reset_dist: 0.05

   publish_cost_grid_pc: false

   prune_plan: true

   sim_time: 1.0

   sim_granularity: 0.025

   angular_sim_granularity: 0.025

   vx_samples: 8

   vy_samples: 0 # zero for a differential drive robot

   vtheta_samples: 20

   dwa: true

   simple_attractor: false

obstacle_range: 2.5

raytrace_range: 3.0

robot_radius: 0.165

inflation_radius: 0.3

max_obstacle_height: 0.6

min_obstacle_height: 0.0

observation_sources: scan

scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap:

   global_frame: /map

   robot_base_frame: /base_footprint

   update_frequency: 1.0

   publish_frequency: 0

   static_map: true

   rolling_window: false

   resolution: 0.01

   transform_tolerance: 1.0

   map_type: costmap

local_costmap:

   global_frame: /odom

   robot_base_frame: /base_footprint

   update_frequency: 5.0

   publish_frequency: 1.0

   static_map: false

   rolling_window: true

   width: 6.0

   height: 6.0

   resolution: 0.01

   transform_tolerance: 1.0

   map_type: costmap

roslaunch odom_tf_package  start.launch 　　　　　　　　机器人启动文件

roscat navigation_tutorials tb_demo_amcl.launch 　　　导航文件

roslaunch navigation_tutorials rviz.launc            rviz启动文件