一、发布起点，终点

pub_amcl:

#!/usr/bin/env python3import rospy
from geometry_msgs.msg import PoseWithCovarianceStampeddef publish_amcl_pose():# 初始化节点rospy.init_node('amcl_pose_publisher')# 创建发布者amcl_pose_pub = rospy.Publisher('/amcl_pose', PoseWithCovarianceStamped, queue_size=10)# 设置发布频率rate = rospy.Rate(1)  # 每秒发布一次，可根据需要调整while not rospy.is_shutdown():# 创建消息对象amcl_pose_msg = PoseWithCovarianceStamped()# 填充消息内容（示例数据，根据实际情况填充）amcl_pose_msg.header.stamp = rospy.Time.now()amcl_pose_msg.header.frame_id = 'map'  # 假设使用地图坐标系amcl_pose_msg.pose.pose.position.x =-13.473#-13.639#