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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

With LGDXRobot Cloud

Assuming that the /config/keys folder contains root.crt, Robot1.key and Robot1.crt files. The path of these files can be set using the cloud_root_cert, cloud_client_key and cloud_client_cert parameters.

SLAM

ros2 launch lgdxrobot2_bringup nav.launch.py \
  slam:=True \
  profile:='slam' \
  use_cloud:=True \
  cloud_address:=<Address of the LGDXRobot Cloud service with port>

Localisation

ros2 launch lgdxrobot2_bringup nav.launch.py \
  map:=<Absolute path to the map yaml file> \
  use_cloud:=True \
  cloud_address:=<Address of the LGDXRobot Cloud service with port>

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_explore_lite bool Launch explore_lite to explore the map automatically.
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_camera bool Whether to enable the camera.
use_joy bool Whether to enable the joy.
use_cloud bool Whether to enable cloud connectivity.
cloud_address string Address of the LGDXRobot Cloud service.
cloud_root_cert string Path to the server’s root certificate file.
cloud_client_key string Path to the client’s private key file.
cloud_client_cert string Path to the client’s certificate file.