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husarion_nav2

This package purpose is to wrap launch files for navigation2 and slam_toolbox.

Launch files

navigation2_bringup.launch.py

Launches bringup_launch.py and amcl_auto_localization node.

Depending on the use_slam parameter, the bringup_launch.py file may start navigation2 stack with slam or with amcl.

params

  • use_sim_time (default: 'false') - enables using simulation time.

  • use_slam (default: 'True') - enables using navigation2 stack with slam_toolbox. If it's false, runs navigation2 stack with amcl

  • nav2_config_file_slam (default: '/ros2_ws/src/husarion_nav2/config/nav2_slam_params.yaml.yaml') - path to navigation2 stack nodes parameters and slam_toolbox. This path refers to this config file. It is only needed when running slam.

  • nav2_config_file_amcl (default: '/ros2_ws/src/husarion_nav2/config/nav2_amcl_params.yaml.yaml') - path to navigation2 stack nodes parameters (including amcl). This path refers to this config file. It is only needed when running amcl node.

  • map (default: '/ros2_ws/src/husarion_nav2/config/map.yaml') - path to map config file for map_server. This path refers to this config file.

  • use_rviz (default: 'False') - enables using rviz.

  • rviz_config_file_mapping (default: '/ros2_ws/src/husarion_nav2/config/rosbot_pro_localization.rviz') - amcl compatible configuration files. It is only needed when running amcl node.

  • rviz_config_file_localization (default: '/ros2_ws/src/husarion_nav2/config/rosbot_pro_localization.rviz') - slam compatible configuration files. It is only needed when running slam node.