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Bringup - NAV2 Simulation

Screenshot

The simulation_nav launch file is used to start the NAV2 stack by initialising the Webots simulation and displaying it in RViz2.

Examples

SLAM on NAV2

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

Localisation on NAV2

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

SLAM on other map

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

Localisation on other map

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

Parameters

Parameter Type Description
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.