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程序源码：https://github.com/kkmd66/ZZX_RUN
Solidworks模型文件：https://github.com/kkmd66/ZZX_RUN/releases/tag/ZZX_RUN_Solidworks

Hector-创建参数启动文件

创建hector_param配置文件

文件位置：zzx_run_navigation/launch/hector_param.launch

    <launch>

        <node pkg = "hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
            <!-- Frame names -->
            <param name="pub_map_odom_transform" value="true"/>
            <param name="map_frame" value="map" />
            <param name="base_frame" value="base_footprint" />
            <param name="odom_frame" value="odom" />

            <!-- Tf use -->
            <param name="use_tf_scan_transformation" value="true"/>
            <param name="use_tf_pose_start_estimate" value="false"/>

            <!-- Map size / start point -->
            <param name="map_resolution" value="0.05"/>
            <param name="map_size" value="2048"/>
            <param name="map_start_x" value="0.5"/>
            <param name="map_start_y" value="0.5" />
            <param name="laser_z_min_value" value = "-1.0" />
            <param name="laser_z_max_value" value = "1.0" />
            <param name="map_multi_res_levels" value="2" />

            <param name="map_pub_period" value="2" />
            <param name="laser_min_dist" value="0.4" />
            <param name="laser_max_dist" value="5.5" />
            <param name="output_timing" value="false" />
            <param name="pub_map_scanmatch_transform" value="true" />

            <!-- Map update parameters -->
            <param name="update_factor_free" value="0.4"/>
            <param name="update_factor_occupied" value="0.7" />    
            <param name="map_update_distance_thresh" value="0.2"/>
            <param name="map_update_angle_thresh" value="0.06" />

            <!-- Advertising config --> 
            <param name="advertise_map_service" value="true"/>
            <param name="scan_subscriber_queue_size" value="5"/>
            <param name="scan_topic" value="scan"/>
        </node>

    </launch>

最后

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