终端警告：传感器的位置超出了地图的范围

、捶你胸口

问题描述：

在使用nav2进行导航的过程中，将雷达的位置放在高度1.53m的位置，此时终端出现警告，说传感器的位置超出了地图的边界。

具体细节和上下文：

[component_container_isolated-1] [WARN] [1726815311.742420774] [local_costmap.local_costmap]: Sensor origin at (-0.00, -0.00 1.53) is out of map bounds (-4.95, -4.95, 0.00) to (5.03, 5.03, 0.78). The costmap cannot raytrace for it.

尝试过的解决方法：

看坐标信息应该就是第三维数据出现了问题，但是没能在nav2配置文件中没能找到相关的参数。

1. 通过chatgpt给出的建议，增加costmap中的参数，但是没效果；
2. 在ROS官网查找了相关的问题，给出的回答大多也没啥用。

机器人小伊

您遇到的问题是在使用ROS 2的nav2导航栈时，雷达（或其他传感器）的垂直位置（z轴）超出了地图的垂直边界。从您提供的警告信息来看，地图的垂直范围是从0.00米到0.78米，但您的雷达被设置在1.53米的高度，这确实超出了地图的垂直边界。

要解决这个问题，您可以考虑以下几个方案：

1. 调整雷达的安装位置

最直接的方法是调整雷达的安装位置，使其z轴坐标在地图的垂直边界内。这可能需要物理上的调整，但通常是最简单和最直接的方法。

2. 修改地图的垂直边界

如果您的应用场景允许，并且您能够重新生成地图，可以考虑增加地图的垂直边界。这通常涉及到地图的创建过程，可能需要使用SLAM（Simultaneous Localization and Mapping）算法重新构建地图，并在构建过程中包含更高的垂直范围。

3. 修改nav2的配置

虽然直接在nav2的配置文件中修改地图的垂直边界可能不是直接支持的，但您可以考虑通过调整传感器模型或局部代价图（local costmap）的配置来间接处理这个问题。以下是一些可能的配置调整：

传感器插件配置：检查您是否在nav2中配置了传感器插件（如sensor_processor），并尝试调整其参数以忽略超出地图边界的传感器数据。不过，这通常不会直接修改地图的边界，而是可能改变如何处理这些数据。
局部代价图配置：在local_costmap的配置中，查看是否有参数可以影响如何处理超出边界的传感器数据。尽管直接调整垂直边界可能不是可行的，但您可以查看是否有相关的插值或外推方法可以用于处理这种情况。

4. 使用自定义插件

如果上述方法都不适用，您可能需要编写自定义的插件来处理这种情况。例如，您可以编写一个自定义的传感器处理插件，该插件在将传感器数据发送到代价图之前，先对数据进行裁剪或调整，以确保它们不会超出地图的边界。

5. 咨询社区或专家

如果您在尝试上述方法后仍然遇到问题，可以考虑在ROS社区论坛、GitHub仓库或相关的技术论坛上寻求帮助。可能有其他用户或专家遇到过类似的问题，并可以提供解决方案或建议。

总之，处理这个问题的关键是确保传感器的位置与地图的边界相匹配。这可能需要物理调整、地图重新生成、配置调整或自定义插件的开发。

以上为生成回答，仅供参考～

小鱼

@捶你胸口真没遇到过这种情况，看代码报错在局部代价地图这里，这个0.78的参数哪里来的，看能不能找到，把它改大一些，最好把参数文件和urdf贴出来

、捶你胸口

@小鱼局部代价地图这块寻找了一下也没0.78这个参数，nav2参数如下

amcl:
  ros__parameters:
    use_sim_time: True
    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" #nav2_amcl::OmniMotionModel
    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: True
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    # '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: True

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.025
    min_y_velocity_threshold: 0.025
    min_theta_velocity_threshold: 0.01
    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" 
      # dwb_core::DWBLocalPlanner
      # nav2_custom_controller::CustomController
      # nav2_ackerman_controller::AckermanController
      debug_trajectory_details: True
      min_vel_x: -2.5
      min_vel_y: 0.0
      max_vel_x: 2.5
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: -2.5
      max_speed_xy: 2.5
      min_speed_theta: -1.0
      # 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: 1.0
      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: 0.1
      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
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: True
      rolling_window: true
      width: 10
      height: 10
      resolution: 0.05
      robot_radius: 1.27
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 1.5
      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: 10.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        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
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: True
      robot_radius: 1.27
      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: 10.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 4.0
          raytrace_min_range: 0.0
          obstacle_max_range: 5.0
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 1.5
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: True
    # 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: True
    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: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner" 
      # nav2_navfn_planner/NavfnPlanner
      # nav2_custom_planner/CustomPlanner
      interpolation_resolution: 0.1
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    use_sim_time: True
    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: true
    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: True

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    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: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [2.5, 0.0, 1.0]
    min_velocity: [-2.5, 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

urdf如下

<?xml version="1.0"?>
<robot name="car">
    
  <!-- Robot Footprint -->
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.625" rpy="0 0 0"/>
  </joint>

  <!-- base link -->
  <link name="base_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <box size="1.8 1.8 0.8"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <box size="1.8 1.8 0.8"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="32.33" ixy="0" ixz="0" iyy="32.33" iyz="0" izz="54"/>
    </inertial>
  </link>

  <!-- cylinder link -->
  <link name="cylinder_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.5" radius="0.02"/>
      </geometry>
      <material name="black">
          <color rgba="0.0 0.0 0.0 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.5" radius="0.02"/>
        </geometry>
    </collision>
      <inertial>
      <mass value="1"/>
        <inertia ixx="0.0209" ixy="0" ixz="0" iyy="0.0209" iyz="0" izz="0.0002"/>
      </inertial>
  </link>

  <!-- cylinder joint -->
    <joint name="cylinder_joint" type="fixed">
        <parent link="base_link" />
        <child link="cylinder_link" />
        <origin xyz="0 0 0.65" />
    </joint>
    
  <!-- top_laser link -->
  <link name="top_laser_link">
      <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.02" radius="0.02"/>
        </geometry>
    </collision>
      <inertial>
      <mass value="0.04"/>
        <inertia ixx="0.00000667" ixy="0" ixz="0" iyy="0.00000667" iyz="0" izz="0.000008"/>
      </inertial>
  </link>

  <!-- top_laser joint -->
    <joint name="top_laser_joint" type="fixed">
        <parent link="cylinder_link" />
        <child link="top_laser_link" />
        <origin xyz="0 0 0.26" />
    </joint>

  <!-- imu -->
  <link name="imu_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
  </link>

  <!-- imu joint -->
  <joint name="imu_joint" type="fixed">
        <parent link="cylinder_link" />
        <child link="imu_link" />
        <origin xyz="0 0 0.26" />
    </joint>

  <link name="left_steering">
      <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.02" radius="0.02"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="0.0006667" ixy="0.0" ixz="0.0" iyy="0.0006667" iyz="0.0" izz="0.001" />
    </inertial>
  </link>

  <link name="right_steering">
      <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.02" radius="0.02"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="0.0006667" ixy="0.0" ixz="0.0" iyy="0.0006667" iyz="0.0" izz="0.001" />
    </inertial>
  </link>

  <joint name="base_link2left_steering" type="fixed">
      <parent link="base_link" />
      <child link="left_steering" />
      <origin xyz="0.9 0.9 0.1" />
  </joint>

  <joint name="base_link2right_steering" type="fixed">
      <parent link="base_link" />
      <child link="right_steering" />
      <origin xyz="0.9 -0.9 0.1" />
  </joint>

  <!-- 左右托盘 -->
  <link name="left_front_axle">
      <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.02" radius="0.02"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="0.0006667" ixy="0.0" ixz="0.0" iyy="0.0006667" iyz="0.0" izz="0.001" />
    </inertial>
  </link>

  <link name="right_front_axle">
      <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
      <material name="gray">
          <color rgba="0.5 0.5 0.5 0.8" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.02" radius="0.02"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="5"/>
      <inertia ixx="0.0006667" ixy="0.0" ixz="0.0" iyy="0.0006667" iyz="0.0" izz="0.001" />
    </inertial>
  </link>

  <joint name="left_steering2left_front_axle" type="revolute">
      <parent link="left_steering" />
      <child link="left_front_axle" />
      <origin xyz="0 0 -0.1" />
      <axis xyz="0 0 1" />
      <limit lower="-0.6458" upper="0.6458" effort="5" velocity="5" />
  </joint>

  <joint name="right_steering2right_front_axle" type="revolute">
      <parent link="right_steering" />
      <child link="right_front_axle" />
      <origin xyz="0 0 -0.1" />
      <axis xyz="0 0 1" />
      <limit lower="-0.6458" upper="0.6458" effort="5" velocity="5" />
  </joint>

  <!-- front_left_wheel link -->
  <link name="front_left_wheel">
      <visual>
      <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.225"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.2" radius="0.225"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="20"/>
      <inertia ixx="0.31979" ixy="0" ixz="0" iyy="0.31979" iyz="0" izz="0.50625"/>
    </inertial>
  </link>
  <gazebo reference="front_left_wheel">
    <mu1 value="1.1"/>
    <mu2 value="1.1"/>
    <kp value="1e7" />
  </gazebo>


  <!-- front_right_wheel link -->
  <link name="front_right_wheel">
      <visual>
      <origin xyz="0 0 0" rpy="1.57079 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.225"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.2" radius="0.225"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="20"/>
      <inertia ixx="0.31979" ixy="0" ixz="0" iyy="0.31979" iyz="0" izz="0.50625"/>
    </inertial>
  </link>                                     
  <gazebo reference="front_right_wheel">
    <mu1 value="1.1"/>
    <mu2 value="1.1"/>
    <kp value="1e7" />
  </gazebo>

  
  <!-- back_left_wheel link -->
  <link name="back_left_wheel">
      <visual>
      <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.225"/>
      </geometry>
      <material name="black">
          <color rgba="0 0 0 1" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.2" radius="0.225"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="30"/>
      <inertia ixx="0.479685" ixy="0" ixz="0" iyy="0.479685" iyz="0" izz="0.759375"/>
    </inertial>
  </link>

  <gazebo reference="back_left_wheel">
    <mu1 value="1.2"/>
    <mu2 value="1.2"/>
    <kp value="1e7" />
  </gazebo>


  <!-- back_right_wheel link -->
  <link name="back_right_wheel">
      <visual>
      <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
      <geometry>
        <cylinder length="0.2" radius="0.225"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1" /> 
      </material>
    </visual>
    <collision>
        <origin xyz="0 0 0.0" rpy="1.57079 0 0"/>
        <geometry>
          <cylinder length="0.2" radius="0.225"/>
        </geometry>
    </collision>
    <inertial>
      <mass value="30"/>
      <inertia ixx="0.479685" ixy="0" ixz="0" iyy="0.479685" iyz="0" izz="0.759375"/>
    </inertial>
  </link>
  <gazebo reference="back_right_wheel">
    <mu1 value="1.2"/>
    <mu2 value="1.2"/>
    <kp value="1e7" />
  </gazebo>

  <joint name="base_link2back_left_wheel" type="continuous">
      <parent link="base_link" />
      <child link="back_left_wheel" />
      <origin xyz="-0.9 0.9 -0.4" />
      <axis xyz="0 1 0" />
  </joint>

  <joint name="base_link2back_right_wheel" type="continuous">
      <parent link="base_link" />
      <child link="back_right_wheel" />
      <origin xyz="-0.9 -0.9 -0.4" />
      <axis xyz="0 1 0" />
  </joint>


  <joint name="left_front_axle2front_left_wheel" type="continuous">
      <parent link="left_front_axle" />
      <child link="front_left_wheel" />
      <origin xyz="0 0 -0.4" />
      <axis xyz="0 1 0" />
  </joint>

  <joint name="right_front_axle2front_right_wheel" type="continuous">
      <parent link="right_front_axle" />
      <child link="front_right_wheel" />
      <origin xyz="0 0 -0.4" />
      <axis xyz="0 1 0" />
  </joint>


<gazebo>
  <plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">

    <ros>
      <!-- <namespace>/</namespace>
      <remapping>cmd_vel:=cmd_vel</remapping>
      <remapping>odom:=odom</remapping> -->
      <!-- <remapping>distance:=distance</remapping> -->
    </ros>

    <update_rate>50.0</update_rate>

    <!-- wheels -->
    <front_left_joint>left_front_axle2front_left_wheel</front_left_joint>
    <front_right_joint>right_front_axle2front_right_wheel</front_right_joint>
    <rear_left_joint>base_link2back_left_wheel</rear_left_joint>
    <rear_right_joint>base_link2back_right_wheel</rear_right_joint> 

    <left_steering_joint>left_steering2left_front_axle</left_steering_joint>
    <right_steering_joint>right_steering2right_front_axle</right_steering_joint>
    <!-- <steering_wheel_joint>steering_joint</steering_wheel_joint> -->

    <!-- Max absolute steer angle for tyre in radians-->
    <!-- Any cmd_vel angular z greater than this would be capped -->
    <!-- 最大转向角度 -->
    <max_steer>1.57</max_steer>

    <!-- Max absolute steering angle of steering wheel -->
    <max_steering_angle>7.85</max_steering_angle>

    <!-- Max absolute linear speed in m/s -->
    <max_speed>5</max_speed>

    <!-- PID tuning -->
    <left_steering_pid_gain>1 0.0001 0.001</left_steering_pid_gain>
    <left_steering_i_range>0 0</left_steering_i_range>
    <right_steering_pid_gain>1 0.0001 0.001</right_steering_pid_gain>
    <right_steering_i_range>0 0</right_steering_i_range>
    <linear_velocity_pid_gain>1 0.0001 0.001</linear_velocity_pid_gain>
    <linear_velocity_i_range>0 0</linear_velocity_i_range>

    <!-- output -->
    <publish_odom>true</publish_odom>
    <publish_odom_tf>true</publish_odom_tf>
    <publish_wheel_tf>false</publish_wheel_tf> 
    <publish_distance>true</publish_distance>
    <odometry_frame>odom</odometry_frame>
    <robot_base_frame>base_footprint</robot_base_frame>
  </plugin>

<plugin name="gazebo_ros_joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
  <ros>
      <remapping>~/out:=joint_states</remapping>
  </ros>
  <update_rate>30</update_rate>
  <joint_name>base_link2front_left_wheel</joint_name>
  <joint_name>base_link2front_right_wheel</joint_name>
  <joint_name>left_back_axle2back_left_wheel</joint_name>
  <joint_name>right_back_axle2back_right_wheel</joint_name>
  <joint_name>left_steering2left_back_axle</joint_name>
  <joint_name>right_steering2right_back_axle</joint_name>
  <!-- <joint_name>steering_joint</joint_name> -->
</plugin>
</gazebo>

<!-- 雷达重量250g -->
  <gazebo reference="top_laser_link">
      <sensor name="top_laser_link" type="ray">
      <always_on>true</always_on>
      <visualize>true</visualize>
      <update_rate>5</update_rate>
      <pose>0 0 150 0 0 0</pose>
      <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>0.33</resolution>
              <min_angle>-1.5708</min_angle>
              <max_angle>1.5708</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.05</min>
            <max>25</max>
            <resolution>0.015000</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
      </ray>
      <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <remapping>~/out:=scan</remapping>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
        <frame_name>top_laser_link</frame_name>
      </plugin>
      </sensor>
  </gazebo>
  <gazebo reference="imu_link">
    <sensor name="imu_link" type="imu">
    <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <ros>
          <namespace>/</namespace>
          <remapping>~/out:=imu</remapping>
        </ros>
        <initial_orientation_as_reference>false</initial_orientation_as_reference>
      </plugin>
      <always_on>true</always_on>
      <update_rate>100</update_rate>
      <visualize>true</visualize>
      <imu>
        <angular_velocity>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </z>
        </angular_velocity>
        <linear_acceleration>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </z>
        </linear_acceleration>
      </imu>
    </sensor>
  </gazebo>

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
  </gazebo>

</robot>

小鱼

@捶你胸口把nav2源码下载下来，全局搜一下

、捶你胸口

@捶你胸口该问题可以通过https://answers.ros.org/question/384944/navigation-2-sensor-origin-out-of-map-bounds-the-costmap-cant-raytrace-for-it/解决