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: 5.4accel_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="1"/><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="5"/>    //icp的迭代次数<param name="lsigma" value="0.075"/><param name="ogain" value="3.0"/><param name="lskip" value="0"/> //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="80"/>        //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: falseTrajectoryPlannerROS:max_vel_x: 0.3min_vel_x: 0.05max_vel_y: 0.0  # zero for a differential drive robotmin_vel_y: 0.0min_in_place_vel_theta: 0.5escape_vel: -0.1acc_lim_x: 2.5acc_lim_y: 0.0 # zero for a differential drive robotacc_lim_theta: 3.2holonomic_robot: falseyaw_goal_tolerance: 0.1 # about 6 degreesxy_goal_tolerance: 0.15  # 10 cmlatch_xy_goal_tolerance: falsepdist_scale: 0.8gdist_scale: 0.6meter_scoring: trueheading_lookahead: 0.325heading_scoring: falseheading_scoring_timestep: 0.8occdist_scale: 0.1oscillation_reset_dist: 0.05publish_cost_grid_pc: falseprune_plan: truesim_time: 1.0sim_granularity: 0.025angular_sim_granularity: 0.025vx_samples: 8vy_samples: 0 # zero for a differential drive robotvtheta_samples: 20dwa: truesimple_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: /maprobot_base_frame: /base_footprintupdate_frequency: 1.0publish_frequency: 0static_map: truerolling_window: falseresolution: 0.01transform_tolerance: 1.0map_type: costmap

local_costmap:global_frame: /odomrobot_base_frame: /base_footprintupdate_frequency: 5.0publish_frequency: 1.0static_map: falserolling_window: truewidth: 6.0height: 6.0resolution: 0.01transform_tolerance: 1.0map_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