/scansensor_msgs/LaserScan
global_posegeometry_msgs::PoseStamped
/base_controller_node
/tftf2_msgs/TFMessage
/mapnav_msgs/OccupancyGrid
/robot_state_publisher
①
tf_static tf2_msgs/TFMessage
MoveBase::executeCycle(局部规划)
latest_plan_vector
/aid_node
MoveBase::planThread(全局规划)
/amcl
/cmd_velgeometry_msgs/Twist
goalgeometry_msgs::PoseStamped
/move_base_simple/goalgeometry_msgs/PoseStamped
/initiaposegeometry_msgs/PoseWithCovarianceStamped
/map_server
MoveBase::getRobotPose
MoveBase::executeCb
/lidar
/odomnav_msgs/Odometry
