Navigation Docs

How to Run

1. Connect to roborregos_home on Wi-Fi.

On your computer:

ssh orin@192.168.31.10
cd home2
./run.sh navigation # Now you should be on the navigation Docker

1. Run

---

Running Nav Basics

The Nav Basics include the following components: - Dashgo driver - RP Lidar fixed - EKF filter for odom transform - (Optional) URDF state publisher to link base_link and lidar

Arguments

• publish_tf (default: true): Active URDF publish state.
• WARNING: Set to false if MoveIt config is active.

Run Command

ros2 launch nav_main nav_basics.launch.py

---

Running AMCL Localization

The AMCL launch includes the following components: - Nav Basics launch (Do not launch nav_basics in another terminal if AMCL launch is running) - Nav2 Map Server - Nav2 AMCL - Nav2 Lifecycle Manager

Arguments

• publish_tf (default: true): Active URDF publish state.
• WARNING: Set to false if MoveIt config is active.
• map (default: Path for lab map): Provide an absolute path to import the map.

Run Command

ros2 launch nav_main nav_amcl.launch.py

---

Running Navigation Node

IMPORTANT: You must run a SLAM before. Examples include nav_amcl or rtabmap (in development).

The Navigation Node includes the following components: - Nav2 Server

Arguments

• Custom yaml config

Run Command

ros2 launch nav_main navigation_launch.py