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nav2_bringup_custom package from scout_nav2 repoagilex_scout aws_robomaker_small_warehouse_world nav2_bringup_custom scout_nav2 |
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
Additional Links
Maintainers
- Michael Jeronimo
- Steve Macenski
- Carlos Orduno
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.
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
nav2_common | |
navigation2 | |
launch_ros | |
ament_cmake | |
slam_toolbox | |
turtlebot3_gazebo | |
ament_lint_common | |
ament_lint_auto | |
ament_cmake_gtest | |
ament_cmake_pytest | |
launch | |
launch_testing |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
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