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  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

Robot Only

SLAM on Nav2

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

Localisation on Nav2

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

SLAM on Nav2 with JOY

ros2 launch lgdxrobot2_bringup nav_launch.py \
  slam:=True \
  profile:='slam' \
  use_joy:=True \
  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.
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_lidar bool Whether to enable the LiDAR.
lidar_model string RPLIDAR model name.
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.