LGDXRobot Docs Logo
  1. LGDXRobot2 Docs
  2. ROS 2
  3. Bringup - Nav2

Bringup - Nav2

The nav launch file is used to start the Nav2 stack by initialising the required hardware and displaying it in RViz2.

Image of the Nav2

Examples

SLAM on Nav2

ros2 launch lgdxrobot2_bringup nav_launch.py \
  slam:=True \
  profile:='slam' \
  use_rviz:=True

SLAM on Nav2 using JOY

ros2 launch lgdxrobot2_bringup nav_launch.py \
  slam:=True \
  profile:='slam' \
  use_joy:=True \
  use_rviz:=True

SLAM on Nav2 using teleop_twist_keyboard

Terminal 1:

ros2 launch lgdxrobot2_bringup nav_launch.py \
  slam:=True \
  profile:='slam' \
  use_keyboard:=True \
  use_rviz:=True

Terminal 2:

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap /cmd_vel:=/keyboard

Localisation on Nav2

ros2 launch lgdxrobot2_bringup nav_launch.py \
  map:=<Absolute path to the map yaml file> \
  use_rviz:=True

Localisation on Nav2 using other controller plugin

ros2 launch lgdxrobot2_bringup nav_launch.py \
  map:=<Absolute path to the map yaml file> \
  profile:='loc-mppi' \
  use_rviz:=True

Parameters

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.
slam bool Whether to run a SLAM.
use_localization bool Whether to enable localization or not.
map string Absolute path to the map YAML file.
keepout_mask string Full path to keepout mask yaml file to load.
speed_mask string Full path to speed mask yaml file to load.
graph string Path to the graph file to load.
autostart bool Automatically start up the Nav2 stack.
use_composition bool Whether to use composed bringup.
use_intra_process_comms bool Whether to use intra process communications
container_name string the name of container that nodes will load in if use composition is true.
use_respawn bool Whether to respawn if a node crashes.
use_keepout_zones bool Whether to enable keepout zones or not.
use_speed_zones bool Whether to enable speed zones or not.
log_level string Log level.
use_rviz bool Launch RViz2.
rviz_config string Absolute path for the RViz config file.
use_joy bool Whether to enable the joy.
use_keyboard bool Control the robot using teleop_twist_keyboard. Start the node in another terminal to control the robot.
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.
slam bool Whether to run a SLAM.
use_localization bool Whether to enable localization or not.
map string Absolute path to the map YAML file.
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.
use_joy bool Whether to enable the joy.
use_keyboard bool Control the robot using teleop_twist_keyboard. Start the node in another terminal to control the robot.