Solved cmd_vel issues. Solved amcl issues

Signed-off-by: Gonzalo de Pedro <[email protected]>

README.md

@@ -52,6 +52,12 @@ Summary of of the packages in the repository.
    - Spawn Noah
    - Run rviz2 (optional)
 
+### noah_navigation:
+ - Holds navigation configuration for Slam or to navigate `small_house.world` world.
+ - Launch file for:
+   - Navigation on 'small_house.world'
+   - Slam
+
 
 ## Using docker
 
@@ -143,3 +149,26 @@ Once simulation is running, in other terminal run:
 ```sh
 ros2 run  teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=noah/cmd_vel
 ```
+
+Try Navigation!
+
+Launch simulation in the 'small house' world:
+```sh
+ros2 launch noah_gazebo noah_gazebo.launch.py world:=small_house.world
+```
+Once simulation is running, in other terminal run:
+```sh
+ros2 launch noah_navigation noah_navigation.launch.py
+```
+
+Try Slam!
+
+Run:
+```sh
+ros2 launch noah_navigation noah_navigation.launch.py slam:=True
+```
+
+To save map:
+```sh
+ros2 run nav2_map_server map_saver_cli -f ~/map
+```

noah_navigation/launch/noah_navigation.launch.py

@@ -5,7 +5,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetRemap
 
 
 def generate_launch_description():
@@ -40,6 +40,7 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            SetRemap(src="/cmd_vel", dst="/noah/cmd_vel"),
             DeclareLaunchArgument("slam", default_value=use_slam, description="Whether run a SLAM"),
             DeclareLaunchArgument("map", default_value=map_dir, description="Full path to map file to load"),
             DeclareLaunchArgument(

noah_navigation/params/noah_navigation_params.yaml

@@ -28,6 +28,7 @@ amcl:
     resample_interval: 1
     robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
+    scan_topic: "/noah/laser_scan"
     sigma_hit: 0.2
     tf_broadcast: true
     transform_tolerance: 1.0
@@ -38,7 +39,7 @@ amcl:
     z_rand: 0.5
     z_short: 0.05
     set_initial_pose: True
-    initial_pose: {x: 4.0, y: 7.0, z: 0.0, yaw: 3.14159} #ISaac (-14, 0 -7)
+    initial_pose: {x: -0.422, y: 0.626, z: 0.0, yaw: 0.0} 
 
 amcl_map_client:
   ros__parameters: