Bringup - Nav2 Gazebo Simulation

The gz_nav launch file is used to start the Nav2 stack by initialising the Gazebo simulation and displaying it in RViz2.

Screenshot

Examples

SLAM on Nav2

ros2 launch lgdxrobot2_bringup gz_nav_launch.py \
  slam:=True \
  profile:='slam-gz' \
  use_rviz:=True

Localisation on Nav2

ros2 launch lgdxrobot2_bringup gz_nav_launch.py \
  profile:='loc-gz' \
  use_rviz:=True

SLAM on other Gazebo map

List of available maps can be found here.

ros2 launch lgdxrobot2_bringup gz_nav_launch.py \
  slam:=True \
  profile:='slam-gz' \
  world:='warehouse.sdf' \
  use_rviz:=True

Localisation on other Gazebo map

ros2 launch lgdxrobot2_bringup gz_nav_launch.py \
  profile:='loc-gz' \
  world:='warehouse.sdf' \
  map:='warehouse.yaml' \
  use_rviz:=True

Parameter	Type	Description
profiles_path	string	bsolute path to the profiles directory, or leave empty to use the default.
profile	string	Parameters profile.
namespace	string	Namespace for the robot.
world	string	World file in `lgdxrobot2sim_gz` package.
slam	bool	Whether to run a SLAM.
use_localization	bool	Whether to enable localization or not.
map	string	Map yaml file in `lgdxrobot2sim_gz` package.
autostart	bool	Automatically start up the Nav2 stack.
use_composition	bool	Whether to use composed bringup.
use_respawn	bool	Whether to respawn if a node crashes.
use_rviz	bool	Launch RViz2.
rviz_config	string	Absolute path for the RViz config file.