The simulation_nav.launch launch file is used to start the robot in Webots simulation, the NAV2 stack, and display it in the RViz2 GUI. Webots is required to be installed.
SLAM on NAV2
ros2 launch lgdxrobot2_bringup simulation_nav.launch.py slam:=True profile:='sim-slam'
Localisation on NAV2
ros2 launch lgdxrobot2_bringup simulation_nav.launch.py profile:='sim-loc'
SLAM on other map
ros2 launch lgdxrobot2_bringup simulation_nav.launch.py slam:=True profile:='sim-slam' world:='apartment.wbt' map:='apartment.yaml'
Localisation on other map
ros2 launch lgdxrobot2_bringup simulation_nav.launch.py profile:='sim-loc' world:='apartment.wbt' map:='apartment.yaml'
| Parameter | Type | Description |
|---|---|---|
| profile | string | Parameters profile. |
| namespace | string | Namespace for the robot. |
| slam | bool | Whether to run a SLAM. |
| use_localization | bool | Whether to enable localization or not. |
| map | string | Absolute path to the map YAML file. |
| 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_explore_lite | bool | Launch explore_lite to explore the map automatically. |
| use_rviz | bool | Launch RViz2. |
| rviz_config | string | Absolute path for the RViz config file. |
| use_lidar | bool | Whether to enable the LiDAR. |
| lidar_model | string | RPLIDAR model name. |
| use_camera | bool | Whether to enable the camera. |
| use_joy | bool | Whether to enable the joy. |