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Package Summary

Tags No category tags.
Version 1.2.5
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description AgileX Scout robot for navigation with Nav2, in the context of mobile manipulation - ROS2
Checkout URI https://github.com/airlab-polimi/scout_nav2.git
VCS Type git
VCS Version main
Last Updated 2024-05-09
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bringup scripts and configurations for the Nav2 stack, modified to account for collision monitor node

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo
  • Steve Macenski
  • Carlos Orduno

Authors

No additional authors.

NAV2 Bringup: fork of the original nav2_bringup package

The nav2_bringup package is an example bringup system for Nav2 applications.

This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you’re mirroring nav2_bringup package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.

Usual robot stacks will have a <robot_name>_nav package with config/bringup files and this is that for the general case to base a specific robot system off of.

Dynamically composed bringup (based on ROS2 Composition) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument use_composition:=False.

  • Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.

To use, please see the Nav2 Getting Started Page on our documentation website. Additional tutorials will help you go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.

Note:

  • gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
  • spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument /tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf’s of the different robot.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav2_bringup_custom at Robotics Stack Exchange

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