各位大佬救救孩子吧 卡了快一个月了 NAV2 2D pose estimate后不显示（全局 局部）代价地图

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使用鱼哥第七章的fishbot_navigation2功能包想做实体小车导航。问题是2D pose estimate后全局代价地图和局部代价地图始终不显示，请鱼哥和各位大佬看看我朝哪个方向排查：

详细描述如下：
1.版本：ROS2 jazzy ubuntu24.04 树莓派5。激光雷达是实体单线雷达 自己搓的麦轮小车，能发布里程计（自己测试还挺准的）
2.使用里程计小车能找到自己的位置，配合雷达能完成家里客厅的简单建图
3.nav2_params.yaml 和 navigation2.launch.py（这个launch里调用了nav2_bringup，传参是map_yaml_path，use_sim_time，和yaml文件路径）是在鱼哥的基础上改的，主要修改的1）use_sim_time: False 2）没有URDF，所以发布了一个 1hz的base_footprint->base_link->laser的TF 3）其他小的参数改动
4.运行navigation2.launch.py后，查看TF都正常，2Dpose estimate后能看到周围有粒子（看样子负责定位的自适应蒙特卡洛粒子滤波起作用了），但是代价地图（全局 局部）都不显示 代价地图模块说no map received
5.显然在代价地图说收不到map的情况下点NAV2 GOAL也是无效的 terminal说 没有设置起始位置（但是其实我设置了）

6 补充：我在目前的基础上丧心病狂的再运行一下ros2 launch nav2_bringup navigation_launch.py 代价地图就有了（代价有点大 我家客厅有点小 ），但是NAV2 GOAL还是失败

请各位大佬指点一二，帮我看看我的问题可能在哪：

**问题1 我没有代价地图的问题可能在哪？
初始位置没设置对？（AMCL模块正常，TF显示map->odom）
代价地图的YAML没配置对？（我跑鱼哥的yaml仿真能跑，仅仅改了footprint坐标系和仿真时间）
为什么我运行ros2 launch nav2_bringup navigation_launch.py 能出代价地图？

问题2 我运行ros2 launch nav2_bringup navigation_launch.py 显然是不应该有的做法，让节点重复发布了。这时候不能导航仅仅是因为节点重复发布的原因吗？还是我还有一些别的没做对？**

这是点2d pose estimate后的结果

这是此时的TF

这是此时的节点

这是小车反馈信息 里程计发布应该都正常（这个图是我后截取的，用遥控器控制小车 确认小车发布的里程计有效）

这个是再没有代价地图的情况下强行点NAV2GOAL的结果

这个是运行一遍ros2 launch nav2_bringup navigation_launch.py 后的结果，注意此时节点几乎都存在两个同名节点，不知道不能导航是否和同名节点有关，但是起码运行这个显示代价地图了

这个是在运行ros2 launch nav2_bringup navigation_launch.py后有代价地图 点NAV2 goal的结果

下面是我的nav2_params.yaml
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan

bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: False

bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: False

controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
#  plugin: "nav2_controller::SimpleGoalChecker"
#  xy_goal_tolerance: 0.25
#  yaw_goal_tolerance: 0.25
#  stateful: True
general_goal_checker:
  stateful: True
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  debug_trajectory_details: True
  min_vel_x: 0.0
  min_vel_y: 0.0
  max_vel_x: 0.26
  max_vel_y: 0.0
  max_vel_theta: 1.0
  min_speed_xy: 0.0
  max_speed_xy: 0.26
  min_speed_theta: 0.0
  # Add high threshold velocity for turtlebot 3 issue.
  # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2
  decel_lim_x: -2.5
  decel_lim_y: 0.0
  decel_lim_theta: -3.2
  vx_samples: 20
  vy_samples: 5
  vtheta_samples: 20
  sim_time: 1.7
  linear_granularity: 0.05
  angular_granularity: 0.025
  transform_tolerance: 0.2
  xy_goal_tolerance: 0.25
  trans_stopped_velocity: 0.25
  short_circuit_trajectory_evaluation: True
  stateful: True
  critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  BaseObstacle.scale: 0.02
  PathAlign.scale: 32.0
  PathAlign.forward_point_distance: 0.1
  GoalAlign.scale: 24.0
  GoalAlign.forward_point_distance: 0.1
  PathDist.scale: 32.0
  GoalDist.scale: 24.0
  RotateToGoal.scale: 32.0
  RotateToGoal.slowing_factor: 5.0
  RotateToGoal.lookahead_time: -1.0

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 1.0
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: False
rolling_window: true
static_map: true
width: 1
height: 1
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
map_topic: /map
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
map_topic: /map
global_frame: map
robot_base_frame: base_footprint
use_sim_time: False
robot_radius: 0.12
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
map_topic: /map
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
track_unknown_space: true
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
always_send_full_costmap: True

map_server:
ros__parameters:
use_sim_time: False
topic_name: "map"
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""

map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

smoother_server:
ros__parameters:
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: odom
robot_base_frame: base_footprint
transform_tolerance: 0.1
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2

robot_state_publisher:
ros__parameters:
use_sim_time: False

waypoint_follower:
ros__parameters:
use_sim_time: False
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0

下面是navigation2.launch.py
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, TimerAction
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def generate_launch_description():
# 获取包路径
fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')

# 配置文件路径
map_yaml_path = os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml')
nav2_param_path = os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml')
rviz_config_path = os.path.join(nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')

# Launch参数
use_sim_time = LaunchConfiguration('use_sim_time', default='false')

return LaunchDescription([
    # 声明参数
    DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation time'),
    DeclareLaunchArgument('map', default_value=map_yaml_path, description='Path to map YAML file'),
    DeclareLaunchArgument('params_file', default_value=nav2_param_path, description='Path to Nav2 parameters file'),

    # 关键修改1：使用bringup_launch.py并传递所有必要参数
    IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            nav2_bringup_dir, '/launch/bringup_launch.py'
        ]),
        launch_arguments={
            'map': map_yaml_path,  # 必须保留地图路径
            'use_sim_time': use_sim_time,
            'params_file': nav2_param_path,
            'autostart': 'true',
            'enable_rviz': 'false'
        }.items(),
    ),

    # 关键修改2：简化TF发布节点
    Node(
        package='fishbot_navigation2',
        executable='tf_publisher_1hz.py',
        name='tf_publisher_1hz',
        output='screen',
        parameters=[{
            'use_sim_time': use_sim_time,
            'frame_ids': ['map', 'odom', 'base_link'],
            'parent_frames': ['', 'map', 'odom'],
            'publish_rate': '10.0'
        }]
    ),

    # 启动RViz2（延迟5秒确保所有节点就绪）
    TimerAction(
        period=5.0,
        actions=[
            Node(
                package='rviz2',
                executable='rviz2',
                name='rviz2',
                arguments=['-d', rviz_config_path],
                parameters=[{'use_sim_time': use_sim_time}],
                output='screen'
            )
        ]
    )
])

请各位帮忙看看，卡很久了这里 GPT给的方法几乎都试了，无果。

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各位大佬 帮忙看看