ROS package backup location： [https://file.hexmove.cn/f/b1482fc3f5fe40eb8598/](https://file.hexmove.cn/f/b1482fc3f5fe40eb8598/)
--- ### File Locations And Functions > ***/home/hexman/cartographer\_ws*** cartographer source file location > > ***/home/hexman/orbbec\_ws*** 摄像头驱动位置 > > ***/home/hexman/test\_ws/src*** 所有自动驾驶相关文件位置 > > ***--/base*** 底盘驱动文件 > > ***--/modules*** 雷达驱动文件 > > ***--/urdf*** 底盘urdf文件 > > ***--/nav*** 导航配置文件 > > ***--/src\_xpkg\_multigoal\_plugin*** rviz的UI插件 > > ***--/xpkg\_cartographer/config*** cartographer配置文件 > > ***--/bringup*** demo的启动文件 > > ***--/xpkg\_bringup/bringup\_camera*** 摄像头demo > > ***--/xpkg\_bringup/bringup\_lidar*** 雷达demo > > ***--/xpkg\_bringup/bringup\_light*** 灯光控制demo > > ***--/xpkg\_bringup/bringup\_vehicle*** 底盘控制demo > > ***--/xpkg\_bringup/bringup\_nav*** 导航demo > > ***--/maps*** 地图保存位置 > > ***--/launch/localization/cartographer*** 建图launch文件 > > ***--/launch/planning/move\_base*** 导航launch文件 > > ***--/config/mark2\_mcnm/cartographer*** movebase配置文件 --- ### The standard Procedure 1. Turn off the remote controller or switch to CAN control mode (please refer to the chassis user manual). 2. Terminal input: `roslaunch xpkg_bringup bringup_cartographer_map.launch` 3. Control movement using the arrow keys on the keyboard in the terminal. Keyboard control has been limited for speed. 4. To save the map, run the following command in a new terminal: `rosrun xpkg_cartographer save_map.sh`. After saving the map, close all terminals. 5. Run the following command in a new terminal: `roslaunch xpkg_bringup bringup_nav_mark2_mcnm.launch`. 6. Plan path points and start navigation using the RViz plugin.（[Rviz Plugin usage tutorial](https://odocs.hexfellow.com/books/public-hexmove-docs/page/rviz-navigation-plugin)）