NAV2 Integration

The NAV2 integration launch files are located in the lgdxrobot2_bringup package. These files support various simulation and real-world navigation setups, including SLAM, localisation, and exploration.

Examples

Run SLAM in Simulation

cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_bringup sim_nav.launch.py slam:=True

Run SLAM with Auto Exploration in Simulation

cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_bringup sim_nav.launch.py slam:=True use_explore_lite:=True

Run Localisation in Simulation

cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_bringup sim_nav.launch.py profile:='sim-loc'

Run NAV2 with Actual Hardware

cd lgdx_ws
. install/setup.bash
ros2 launch lgdxrobot2_bringup nav_rtabmap.launch.py