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Bringup - Parameter Profiles

When running the NAV2 bringup, a profile is required in the parameters. It is used to switch between the parameter sets for the nodes used by the NAV2 bringup and it is simply a Python function that locates the relevant parameter files. To check the available profiles, navigate to the lgdxrobot2_bringup/param folder.

Nav2 offers different controller plugins for line following, each using a distinct algorithm. LGDXRobot2 ROS 2 allows switching between the available plugins through profiles.

  • Model Predictive Path Integral Controller (MPPI) – This is the default plugin, so specifying a profile is not required.
  • DWB Controller – Use loc-dwb as the profile name.
  • Graceful Controller – Use loc-gc as the profile name.
  • Regulated Pure Pursuit Controller – Use loc-rpp as the profile name.

Profile Explanation

This section is subject to change.

  • A profile name starting with slam indicates that the profile is intended for SLAM, while loc indicates that it is intended for localisation.
  • If the profile name includes -sim, it is intended for simulation.
  • If the profile name includes -pi4, it is intended for the Raspberry Pi 4B+, and -jetson-nano indicates that it is intended for the Nvidia Jetson Nano.
  • If the profile name ends with -no-cam, it is intended for robots without a Realsense IMU.
  • If the profile name does not include a device name, the profile is intended for a NUC.

Creating a Profile

  1. Copy the param and rviz folders from the lgdxrobot2_bringup package to any folder.
  2. In the param folder, copy any existing folder and rename it using a custom profile name. It is recommended that the name starts with slam- or loc-.
  3. Edit the parameters in the copied folder. Parameters may be copied from the root of param, but ekf.yaml and nav2.yaml are required.
  4. (Optional) In the rviz folder, copy any RViz configuration file and rename it to match the custom profile name.
  5. Recompile the package.
  6. Start the Nav2 bringup with the custom profile using profiles_path:=<path to custom profiles folder> profile:=<profile_name>.