diff --git a/source/conf.json b/source/conf.json
index 8f114c0..b880889 100644
--- a/source/conf.json
+++ b/source/conf.json
@@ -49,16 +49,16 @@
"name": "收货指南",
"items":[
{
- "name": "检查",
- "uri": "version_two/user_guide/quick_start/receipt"
+ "name": "检查",
+ "uri": "version_two/user_guide/quick_start/receipt"
},
{
- "name": "清点 - 挂式 Mini 计算机",
- "uri": "version_two/user_guide/quick_start/mini_new"
+ "name": "清点 - 挂式 Mini 计算机",
+ "uri": "version_two/user_guide/quick_start/mini_new"
},
{
- "name": "清点 - 台式 Mini 计算机 （已停产）",
- "uri": "version_two/user_guide/quick_start/mini_old"
+ "name": "清点 - 台式 Mini 计算机 （已停产）",
+ "uri": "version_two/user_guide/quick_start/mini_old"
}
],
},
@@ -66,16 +66,16 @@
"name": "组装测试",
"items":[
{
- "name": "组装 - 挂式 Mini 计算机",
- "uri": "version_two/user_guide/assembly_test/mini_new"
+ "name": "组装 - 挂式 Mini 计算机",
+ "uri": "version_two/user_guide/assembly_test/mini_new"
},
{
- "name": "组装 - 台式 Mini 计算机 （已停产）",
- "uri": "version_two/user_guide/assembly_test/mini_old"
+ "name": "组装 - 台式 Mini 计算机 （已停产）",
+ "uri": "version_two/user_guide/assembly_test/mini_old"
},
{
- "name": "测试",
- "uri": "version_two/user_guide/assembly_test/test"
+ "name": "测试",
+ "uri": "version_two/user_guide/assembly_test/test"
}
]
},
@@ -92,14 +92,23 @@
},
{
"name": "建图导航",
- "uri": "version_two/user_guide/quick_start/slam_doc"
+ "items": [
+ {
+ "name": "快速上手",
+ "uri": "version_two/user_guide/quick_start/slam_doc"
+ },
+ {
+ "name": "SLAM 多点导航功能包",
+ "uri": "version_two/user_guide/quick_start/multi_slam_doc"
+ }
+ ]
},
{
"name": "定位循迹",
"items": [
{
- "name": "快速上手",
- "uri": "version_two/location/guide/doc"
+ "name": "快速上手",
+ "uri": "version_two/location/guide/doc"
},
{
"name": "了解定位系统",
@@ -131,6 +140,10 @@
{
"name": "定位巡迹",
"uri": "common/q_a/doc3"
+ },
+ {
+ "name": "其他",
+ "uri": "common/q_a/doc4"
}
],
},
diff --git a/source/version_two/user_guide/quick_start/imgs/download-file.png b/source/version_two/user_guide/quick_start/imgs/download-file.png
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diff --git a/source/version_two/user_guide/quick_start/imgs/intro6.png b/source/version_two/user_guide/quick_start/imgs/intro6.png
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diff --git a/source/version_two/user_guide/quick_start/imgs/intro8.png b/source/version_two/user_guide/quick_start/imgs/intro8.png
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diff --git a/source/version_two/user_guide/quick_start/imgs/intro9.png b/source/version_two/user_guide/quick_start/imgs/intro9.png
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diff --git a/source/version_two/user_guide/quick_start/multi_slam_doc.md b/source/version_two/user_guide/quick_start/multi_slam_doc.md
new file mode 100644
index 0000000..7522e39
--- /dev/null
+++ b/source/version_two/user_guide/quick_start/multi_slam_doc.md
@@ -0,0 +1,151 @@
+# SLAM 多点导航功能包
+
+## navi_multi_goals_pub_rviz_plugin
+
+
+### 描述：
+
+该功能包为SLAM 建图导航提供可发布多个目标点任务的导航方式。
+
+### 要求:
+
+必须基于建图导航使用
+
+
+
+
+### 一、安装与配置
+
+
+#### 1. 下载程序包
+
+进入 /home/autolabor/catkin_ws/src 目录，执行
+
+```
+git clone https://github.com/autolaborcenter/navi_multi_goals_pub_rviz_plugin.git
+```
+
+或访问 https://github.com/autolaborcenter/navi_multi_goals_pub_rviz_plugin.git 下载源代码，放入 /home/autolabor/catkin_ws/src 目录中
+
+
+
+#### 2. 编译
+
+工作空间首次编译，请进入到 /home/autolabor/catkin_ws/script/common/，执行 `./rebuild` 编译脚本。
+
+如已执行过 rebuild 脚本，进入到/home/autolabor/catkin_ws/，根目录下执行 `catkin build` 即可。
+
+
+#### 3. 编译完成后，启动【开始导航】
+
+**注：要求提前建好地图。**
+
+
+
+#### 4. 加载插件
+
+RViz 的左上角依次点击 Panels -> Add New Panel -> navi_multi_goals_pub_rviz_plugin -> TeleopPanel
+
+
+
+
+
+***
+
+**加载完毕：**
+
+
+
+
+#### 5. 修改配置
+
+##### 1) 新增 marker （目标点标记）
+
+RViz 左侧 Display -> add -> Marker
+
+
+
+
+
+***
+
+##### 2) 修改 2D Nav Goal 按钮话题
+
+RViz 的左上角 Panels->Add New Panel-> Tool Property
+
+将 2D Nav Goal -> Topic 修改为 /move_base_simple/goal_temp
+
+
+
+
+
+
+
+***
+
+**做完以上操作后 Ctrl + S 保存 RViz 配置，如忘记保存，则下次进来要重复操作。**
+
+
+
+### 二、使用
+
+### 操作区说明
+
+
+
+① 可设置目标点的最大数量：要求所设置目标点个数不能大于该参数（可以小于）
+
+② 是否循环：若勾选，导航至最后一个目标点后，将重新导航至第一个目标点。例：1->2->3->1->2->3->···，该选项必须在开始导航前勾选
+
+③ 任务目标点列表： x/y/yaw，地图上给定目标点的位姿（xy坐标与航向角yaw)。
+
+* 设置完目标最大数量，保存后，该列表会生成对应数量的条目
+* 每给出一个目标点，此处会读取到目标点的坐标与朝向
+
+④ 重置：将清空当前所有目标点
+
+⑤ 取消：取消当前目标点导航任务，机器人停止运动。再次点击开始导航后，会从下一个任务点开始。
+
+例：1->2->3，在1->2的过程中点击取消，机器人停止运动，点击开始导航后，机器人将从当前坐标点去往3。
+
+⑥ 开始导航：开始任务
+
+### 操作步骤说明
+
+#### 1. 初始化机器人位置
+
+点击开始导航，打开 rviz，使用键盘控制机器人运动，当环境特征与地图匹配完成后，机器人会定位到地图中对应的位置。
+
+#### 2. 设置任务
+
+##### 1) 设置任务目标点个数，点击确认保存
+
+
+
+
+##### 2) 设置目标点
+
+点击ToolBar上的2D Nav Goal，在地图上给定目标点。（每次设置都需要先点击2D Nav Goal）
+
+目标点有朝向区分，箭头顶端为车头方向。
+
+
+
+##### 3) 点击开始导航，导航开始
+
+
+
+
+已完成任务会变为红色（如下图）
+
+
+
+
+
+
+
+未勾选循环，单次任务完成后停止。
+
+勾选循环，单次任务完成后，会从最后一个目标点到第一个目标点，显示颜色为蓝色。
+
+