1.gmapping建图
map.yaml文件格式
image: testmap.png
resolution: 0.1
origin: [0.0, 0.0, 0.0]
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0
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image : Path to the image file containing the occupancy data; can be absolute, or relative to the location of the YAML file
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resolution : Resolution of the map, meters / pixel
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origin : The 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation). Many parts of the system currently ignore yaw.
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occupied_thresh : Pixels with occupancy probability greater than this threshold are considered completely occupied.
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free_thresh : Pixels with occupancy probability less than this threshold are considered completely free.
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negate : Whether the white/black free/occupied semantics should be reversed (interpretation of thresholds is unaffected)
2. robot_pose_ekf与amcl的关系：前者将encoder,imu融合得到odom_combined与base_link的tf关系，给amcl使用
(robot_pose_ekf通过不同的源数据来估计机器人的pose，不做定位)
odom<---(encoder,imu--robot_pose_ekf)--->base_link
map<-----------(laser--amcl)----------->base_link
robot_pose_ekf(tf:odom,imu-->base_link)-->amcl
map-->odom-->base_link
3. 叉车hector_gmapping 与 amcl的关系
hector_mapping 与 amcl的关系：(为什么叉车和AGV小车相比，非建图时要启动hector_mapping)
hector_mapping产生odom给amcl
4.欧拉角RPY：
欧拉角RPY分别代表Roll（滚转角），Pitch（俯仰角），Yaw（偏航角），分别对应绕XYZ轴旋转
旋转的正方向是，从XYZ轴的箭头方向看过去，顺时针为正，逆时针为负。
5.替代关系：（预计2018-10开始使用ubuntu18.04）
gmapping ----> cartgraph
hector_mapping ----> cms?
robot_pose_ekf ----> robot_localization (base_footprint与odom的关系)
amcl ----> cms + fft
global_planner ----> ?