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Bringup - Parameter Profiles

When running the NAV2 bringup, a profile is required in the parameters. It is used to switch between the parameter sets for the nodes used by the NAV2 bringup and it is simply a Python function that locates the relevant parameter files. To check the available profiles, navigate to the lgdxrobot2_bringup/param folder.

Nav2 offers different controller plugins for line following, each using a distinct algorithm. LGDXRobot2 ROS 2 allows switching between the available plugins through profiles.

  • DWB Controller – This is the default plugin, so specifying a profile is not required.
  • Model Predictive Path Integral Controller (MPPI) – Use loc-mppi as the profile name.
  • Graceful Controller – Use loc-gc as the profile name.
  • Regulated Pure Pursuit Controller – Use loc-rpp as the profile name.

Creating a Profile

  1. Copy the param and rviz folders from the lgdxrobot2_bringup package to any folder.
  2. In the param folder, copy any existing folder and rename it using a custom profile name. It is recommended that the name starts with slam- or loc-.
  3. Edit the parameters in the copied folder. Parameters may be copied from the root of param, but ekf.yaml and nav2.yaml are required.
  4. (Optional) In the rviz folder, copy any RViz configuration file and rename it to match the custom profile name.
  5. Recompile the package.
  6. Start the Nav2 bringup with the custom profile using profiles_path:=<path to custom profiles folder> profile:=<profile_name>.