Removing AMCL from nav2_bringup launch

[rajeshAnt]

Operating System: Ubuntu 22.04
ROS2 Version: Humble

I am using nav2_bringup to launch nav2 and everything works well so far. But since I am trying to navigate my robot in an unknown environment, I am using an empty map and robot _localization package to localize. And I want to remove the amcl completely and just use robot_localization.

Removing the amcl parameters or using enabled: false parameter in the nav2_params.yaml doesnt help as it is still starting the amcl node.

How to remove amcl completely while launching nav2 with nav2_bringup? I am new to the nav2 environment, any guidance would be appreciated.

Thanks in advance for your time:)

[SteveMacenski]

You can create your own launch file which launches your appropriate localization solution. nav2_bringup is a general purpose getting started package but if you need to modify to have different navigation servers, setups, localization systems, etc you should be making your own myrobot_nav2 configuration package with your appropriately parameters and launch files.

[rajeshAnt]

Thanks, I duplicated nav2_bringup and edited the parts I needed and was able to achieve required function.