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小
@1227303535 其实不复杂，找到3d的局部规划器就行
2
@tigerros cad格式的地图？没见过，你们选择什么方案呀？还需要cad，我看到的都是激光雷达建pcd文件，然后制作高精地图，然后加载高精地图导航
