Bringup - Nav2 Gazebo Simulation | LGDXRobotics Documentation

The gz_nav launch file is used to start the Nav2 stack by initialising the Gazebo simulation and displaying it in RViz2.

LGDXRobot2 for Gazebo simulation is under development and does not support LGDXRobot Cloud.

Screenshot

Examples

SLAM on Nav2

ros2 launch lgdxrobot2_bringup gz_nav.launch.py \
  slam:=True \
  profile:='slam-gz' \
  use_rviz:=True

Localisation on Nav2

ros2 launch lgdxrobot2_bringup gz_nav.launch.py \
  profile:='loc-gz' \
  use_rviz:=True

SLAM on other Gazebo map

List of available maps can be found here.

ros2 launch lgdxrobot2_bringup gz_nav.launch.py \
  slam:=True \
  profile:='slam-gz' \
  world:='deport.sdf' \
  map:='deport.yaml' \
  use_rviz:=True

Localisation on other Gazebo map

ros2 launch lgdxrobot2_bringup gz_nav.launch.py \
  profile:='loc-gz' \
  world:='deport.sdf' \
  map:='deport.yaml' \
  use_rviz:=True

Parameters

Parameter	Type	Description
profiles_path	string	bsolute path to the profiles directory, or leave empty to use the default.
profile	string	Parameters profile.
namespace	string	Namespace for the robot.
world	string	World file in `lgdxrobot2sim_gz` package.
slam	bool	Whether to run a SLAM.
use_localization	bool	Whether to enable localization or not.
map	string	Map yaml file in `lgdxrobot2sim_gz` package.
autostart	bool	Automatically start up the Nav2 stack.
use_composition	bool	Whether to use composed bringup.
use_respawn	bool	Whether to respawn if a node crashes.
use_rviz	bool	Launch RViz2.
rviz_config	string	Absolute path for the RViz config file.
use_cloud	bool	Whether to enable cloud connectivity.
cloud_address	string	Address of the LGDXRobot Cloud service.
cloud_root_cert	string	Path to the server’s root certificate file.
cloud_client_key	string	Path to the client’s private key file.
cloud_client_cert	string	Path to the client’s certificate file.