After creating a robot, the next step is setting up the map on LGDXRobot Cloud using SLAM mode. The system will then receive map data from the robot running the Nav2 stack. SLAM mode is supported on only one robot. If a second robot tries to connect, it will be disconnected.
Expand the Navigation, select Realms and click View link for First Realm. Then press Start SLAM button on the top right. The system will display Awaiting Robot…
Ensure that the PATH is set up correctly for the ROS 2 environment. (Ignore this step if using the Docker image)
cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_bringup nav.launch.py \
slam:=True \
profile:='slam' \
use_cloud:=True \
cloud_address:=<Address of the cloud with port> \
cloud_root_cert:="/config/keys/root.crt" \
cloud_client_key:="/config/keys/My Robot.key" \
cloud_client_cert:="/config/keys/My Robot.crt"
ros2 launch lgdxrobot2_bringup simulation_nav.launch.py \
slam:=True \
profile:='slam-sim' \
use_cloud:=True \
cloud_address:=<Address of the cloud with port or 'host.docker.internal:5162'> \
cloud_root_cert:="/config/keys/root.crt" \
cloud_client_key:="/config/keys/My Robot.key" \
cloud_client_cert:="/config/keys/My Robot.crt"
Click the blue button in the middle-left to expand the settings. Paste the command into the Clipboard section, then paste it directly into the terminal.
If there is any errors, it is likely that the [alt_names] section in the certificate configuration does not include the IP address of the computer hosting the LGDXRobot Cloud.
If the connection is working, the map will appear in the middle. If it does not, click the Refresh button at the top middle.
To start exploration, press the Set Goal button at the top. Then set the goal by clicking on the gray area of the map and dragging the mouse to the desired position.
After finishing the exploration, press the Update Realm button in the top-right corner, then press Update to save the map. This will update the map on the cloud and save the map file on the robot. The robot will also stop navigating at the same time.
To set up the map manually. Download the map image below.
On the details page for First Realm, click the Browse… button to upload the map image. Then update the other fields according to the table below.
| Parameter | Value |
|---|---|
| Resolution | 0.05 |
| Origin X | -0.951 |
| Origin Y | -1.11 |
Press Update to save the map.
Waypoints are required for the robot to navigate through. Expand the Navigation, select Waypoints and select Create Waypoint in the top-right corner.
Create two waypoints using the data below. After entering the position for waypoint A, press Create, then press Create Waypoint again to create waypoint B.
| Name | X | Y | Rotation |
|---|---|---|---|
| A | 0 | 0 | 0 |
| B | 6.5 | 8.5 | 3.14159265 |
Both waypoints should now be created and visible on the interface.
