运行命令 开启激光雷达：roslaunch limo_bringup limo_start.launch pub_odom_tf:=false 开启SLAM：roslaunch limo_bringup limo_gmapping.launch 开启导航：roslaunch limo_bringup limo_navigation_diff.launch 开启键盘操作：roslaunch limo_bringup limo_teletop_keyboard.launch
保存地图： cd ~/agilex_ws/src/limo_ros/limo_bringup/maps/ rosrun map_server map_saver -f [mapname]
修改启动地图： roscd limo_bringup/launch vi limo_navigation_diff.launch 改第20行
启动设定目的地节点： rosrun limo_controller limo_control_20231215.py
修改移动速度： cd agilex_ws/src/limo_ros/limo_bringup/param/diff vi planner.yaml 修改第13行的max_vel_x
查看方位 rostopic echo /amcl_pose