1. 设置环境变量 (根据你的版本替换 humble/foxy/galactic)source /opt/ros/humble/setup.bash2. 递归克隆代码 (包含子模块避免依赖缺失)git clone --recursive https://github.com/fishros/fishbot_nav.git -b humblecd fishbot_nav3. 安装系统依赖sudo apt updatesudo apt install ros-humble-nav2-bringup ros-humble-joint-state-publisher ros-humble-robot-state-publisher4. 编译colcon buildimport osfrom ament_index_python.packages import get_package_share_directoryfrom launch import LaunchDescriptionfrom launch.actions import DeclareLaunchArgument, IncludeLaunchDescriptionfrom launch.substitutions import LaunchConfigurationfrom launch.launch_description_sources import PythonLaunchDescriptionSourcefrom launch_ros.actions import Nodesudo docker run -it --rm-v /dev:/dev-v /dev/shm:/dev/shm–privileged–nethostregistry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:humbleudp4 --port 8888 -v4xhost sudo docker run -it --rm–privileged-p 8889:8889 -p 8889:8889/udp-v /dev:/dev-v /tmp/.X11-unix:/tmp/.X11-unix–device /dev/snd-e DISPLAYunix$DISPLAYregistry.cn-hangzhou.aliyuncs.com/fishros/fishbot_lasercd fishbot_navsource install/setup.bashros2 launch fishbot_bringup bringup_quick.launch.pycd fishbot_navsource install/setup.bashros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:False导航地图中不同颜色代表什么