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tb3_simulation_launch.py :red_flag: - Coggle Diagram

- - - - Node
        
        map_saver_server
      - Node
        
        lifecycle_manager
      - IncludeLaunchDescription
        
        online_sync_launch.py :red_flag:
        
        ??
    - - map: "turtlebot3_world.yaml" :pencil2:
      - Node
        
        map_server
      - Node
        
        amcl
      - Node
        
        lifecycle_manager
    - - Node
        
        controller_server
      - Node
        
        planner_server
      - Node
        
        recoveries_server
      - Node
        
        bt_navigator
      - Node
        
        waypoint_follower
      - Node
        
        lifecycle_manager
    - - bt_navigator
        
        default_nav_through_poses_bt_xml
        
        navigate_through_poses_w_replanning_and_recovery.xml :pencil2:
        
        default_nav_to_pose_bt_xml
        
        navigate_to_pose_w_replanning_and_recovery.xml :pencil2:
        
        plugin_lib_names
        
        將 BT node 寫在這裡
      - controller_server
        
        progress_checker_plugin:
        progress_checker
        
        progress_checker
        plugin: "nav2_controller::SimpleProgressChecker" :pencil2:
        
        goal_checker_plugins:
        general_goal_checker
        
        general_goal_checker
        plugin: "nav2_controller::SimpleGoalChecker" :pencil2:
        
        controller_plugins:
        FollowPath
        
        FollowPath
        plugin: "dwb_core::DWBLocalPlanner" :pencil2:
        
        Other plugs:
        Nav2 Regulated Pure Pursuit Controller
        AMCL (Adaptive Monte Carlo Localization)
      - local_costmap
        plugins: [
        "voxel_layer",
        "inflation_layer"]
        
        inflation_layer
        plugin: "nav2_costmap_2d::InflationLayer" :pencil2:
        
        voxel_layer
        plugin: "nav2_costmap_2d::VoxelLayer" :pencil2:
      - global_costmap
        plugins: [
        "static_layer",
        "obstacle_layer",
        "inflation_layer"]
        
        obstacle_layer
        plugin: "nav2_costmap_2d::ObstacleLayer" :pencil2:
        
        static_layer
        plugin: "nav2_costmap_2d::StaticLayer" :pencil2:
        
        inflation_layer
        plugin: "nav2_costmap_2d::InflationLayer" :pencil2:
      - map_server
        yaml_filename: "turtlebot3_world.yaml" :pencil2:
      - planner_server
        planner_plugins:
        ["GridBased"]
        
        GridBased
        plugin: "nav2_navfn_planner/NavfnPlanner" :pencil2:
        
        Other plugins:
        Smac Planner
      - recoveries_server
        recovery_plugins: [
        "spin",
        "backup",
        "wait"]
        
        spin
        plugin: "nav2_recoveries/Spin" :pencil2:
        
        backup
        plugin: "nav2_recoveries/BackUp" :pencil2:
        
        wait
        plugin: "nav2_recoveries/Wait" :pencil2:
      - waypoint_follower
        waypoint_task_executor_plugin:
        "wait_at_waypoint"
        
        wait_at_waypoint
        plugin: "nav2_waypoint_follower::WaitAtWaypoint" :pencil2: