# 配置与示例参考

## Hydra 配置树

- 根配置： [configs/config.yaml](https://github.com/Royalvice/OmniNav/blob/main/configs/config.yaml)
- 算法： [configs/algorithm](https://github.com/Royalvice/OmniNav/tree/main/configs/algorithm)
- 任务： [configs/task](https://github.com/Royalvice/OmniNav/tree/main/configs/task)
- 场景： [configs/scene](https://github.com/Royalvice/OmniNav/tree/main/configs/scene)
- 示例配置： [configs/demo](https://github.com/Royalvice/OmniNav/tree/main/configs/demo)

## 主要示例

- [examples/01_teleop_go2.py](https://github.com/Royalvice/OmniNav/blob/main/examples/01_teleop_go2.py)
- [examples/02_teleop_go2w.py](https://github.com/Royalvice/OmniNav/blob/main/examples/02_teleop_go2w.py)
- [examples/03_lidar_visualization.py](https://github.com/Royalvice/OmniNav/blob/main/examples/03_lidar_visualization.py)
- [examples/04_camera_visualization.py](https://github.com/Royalvice/OmniNav/blob/main/examples/04_camera_visualization.py)
- [examples/05_waypoint_navigation.py](https://github.com/Royalvice/OmniNav/blob/main/examples/05_waypoint_navigation.py)
- [examples/06_inspection_task.py](https://github.com/Royalvice/OmniNav/blob/main/examples/06_inspection_task.py)

## Getting Started 包

- [examples/getting_started/README.md](https://github.com/Royalvice/OmniNav/blob/main/examples/getting_started/README.md)
- [examples/getting_started/run_getting_started.py](https://github.com/Royalvice/OmniNav/blob/main/examples/getting_started/run_getting_started.py)
- [examples/getting_started/algorithm_template.py](https://github.com/Royalvice/OmniNav/blob/main/examples/getting_started/algorithm_template.py)
- [examples/getting_started/task_template.py](https://github.com/Royalvice/OmniNav/blob/main/examples/getting_started/task_template.py)

## ROS2 包

- [examples/ros2/omninav_ros2_examples/README.md](https://github.com/Royalvice/OmniNav/blob/main/examples/ros2/omninav_ros2_examples/README.md)
- [examples/ros2/omninav_ros2_examples/launch](https://github.com/Royalvice/OmniNav/tree/main/examples/ros2/omninav_ros2_examples/launch)
- [examples/ros2/omninav_ros2_examples/omninav_ros2_examples](https://github.com/Royalvice/OmniNav/tree/main/examples/ros2/omninav_ros2_examples/omninav_ros2_examples)