update filss

Author: HuaYuXiao

README.md

@@ -25,10 +25,10 @@ roslaunch easondrone_mapping simulation.launch
 
 > You are trying to invoke `octomap_saver` as an argument to the `octomap_server` node. However, `octomap_saver` is a node of its own, so you only have to start it from a separate terminal while `octomap_server` is running. Check the documentation at http://wiki.ros.org/octomap_server#octomap_saver
 
-控制无人机完成建图后，用以下指令保存.bt（相较于.ot体积更小）格式的地图文件，默认保存到~/下，
+控制无人机完成建图后，用以下指令保存.ot（或者.bt，相较于.ot体积更小）格式的地图文件
 
 ```bash
-rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt
+rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.ot
 ```
 
 ![image](doc/log/2024-03-11/%E6%97%A0%E6%A0%87%E9%A2%98.png)
@@ -39,20 +39,19 @@ rosrun octomap_server octomap_saver -f ~/EasonDrone/Reconstruction/EasonDrone_Ma
 - ⭐️ https://github.com/OctoMap/octomap_mapping/blob/kinetic-devel/octomap_server/src/OctomapServer.cpp
 - ⭐️ https://groups.google.com/g/octomap/c/ZyfNzcuGlY0?pli=1
 
-
 ## 查看地图
 
 ### 方法1：octovis
 
-也可以借助`octovis`工具查看，
+也可以借助`octovis`工具查看
 
 ```bash
 octovis ~/EasonDrone/Reconstruction/EasonDrone_Mapping/map.bt
 ```
 
 ### 方法2：rviz
 
-一种方法是在`rviz`中查看，
+一种方法是在`rviz`中查看
 
 ```bash
 rosrun rviz rviz
@@ -75,6 +74,6 @@ rosrun octomap_server octomap_server_node ~/EasonDrone/Reconstruction/EasonDrone
 
 ## Acknowledgement
 
-Thanks to following packages:
+Thanks for following packages:
 
 - [global_planning](https://github.com/amov-lab/Prometheus/Modules/planning/global_planning)

config/rviz_config.rviz

@@ -8,7 +8,6 @@ Panels:
         - /Sensor1
         - /Sensor1/RGBD1
         - /Mapping1
-        - /Mapping1/octomap1
       Splitter Ratio: 0.43611112236976624
     Tree Height: 786
   - Class: rviz/Selection
@@ -86,20 +85,20 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
+        base_link:
+          VLP16_link:
+            {}
+          base_link_frd:
+            {}
+          monocular_link:
+            {}
+          realsense_camera_frame:
+            {}
         odom:
           odom_ned:
             {}
         world:
           map:
-            base_link:
-              VLP16_link:
-                {}
-              base_link_frd:
-                {}
-              monocular_link:
-                {}
-              realsense_camera_frame:
-                {}
             map_ned:
               {}
       Update Interval: 0
@@ -306,7 +305,7 @@ Visualization Manager:
     - Class: rviz/Interact
       Hide Inactive Objects: true
     - Class: rviz/SetGoal
-      Topic: goal
+      Topic: /move_base_simple/goal
   Value: true
   Views:
     Current: