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目前的情况是机器人能正常运行，导航定位使用的TEB+cartographer。需解决的问题是。1、遇到障碍不能及时暂停（现象描述：门被堵住会一直在门口顿挫）和自动回充。2、调度系统可以在大屏时时监控或查看机器人位置及状态。两部分可以分开外包。有意者联系QQ317661872.备注鱼香ROS