Bringup - Nav2 Simulation | LGDXRobotics Documentation

The simulation_nav launch file is used to start the Nav2 stack by initialising the Webots simulation and displaying it in RViz2.

Screenshot

Examples

Robot Only

SLAM on Nav2

ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
  slam:=True \
  profile:='slam-sim' \
  use_rviz:=True

SLAM on Nav2 with automatic exploration

ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
  slam:=True \
  profile:='slam-sim' \
  use_rviz:=True \
  use_explore_lite:=True

Localisation on Nav2

ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
  profile:='loc-sim' \
  use_rviz:=True

SLAM on other Webots map

ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
  slam:=True \
  profile:='slam-sim' \
  world:='apartment.wbt' \
  map:='apartment.yaml' \
  use_rviz:=True

Localisation on other Webots map

ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
  profile:='loc-sim' \
  world:='apartment.wbt' \
  map:='apartment.yaml' \
  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.

The cloud_address can be ignored if ROS 2 is running in a container and LGDXRobot Cloud is running on the host.

SLAM

ros2 launch lgdxrobot2_bringup simulation_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 simulation_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.