Fix noah nav2 #12
Fix noah nav2 #12
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noah_bringup/package.xml
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| <?xml version="1.0"?> | |||
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Is this package being used?
| <joint name="imu_joint" type="fixed"> | ||
| <parent link="front_link"/> | ||
| <child link="imu_link"/> | ||
| <origin xyz="0.0 0 0.068" rpy="0 0 0"/> | ||
| </joint> | ||
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| <link name="imu_link"/> | ||
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I think it is not necessary
| # Copyright 2019 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # |
noah_navigation2/map/map.yaml
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| image: map.pgm | |||
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Remove this map which is from the turtlebot
noah_navigation2/map/rtabmap.yaml
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| image: rtabmap.pgm | |||
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please call it small_house so as to know what it contains
noah_navigation2/package.xml
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| <name>noah_navigation2</name> | ||
| <version>2.1.5</version> | ||
| <description> | ||
| ROS 2 launch scripts for navigation2 |
| ROS 2 launch scripts for navigation2 | ||
| </description> | ||
| <author email="[email protected]">Fabricio Emder</author> | ||
| <maintainer email="[email protected]">Fabricio Emder</maintainer> |
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nit: Please add me as maintainer
<maintainer email="[email protected]">Franco Cipollone</maintainer>
noah_navigation2/param/noah.yaml
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| use_sim_time: True | ||
| global_frame: map | ||
| robot_base_frame: base_generic_link | ||
| odom_topic: /odom |
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nit: Use relative name (it will end up being at /odom as we are not adding any namespace)
| odom_topic: /odom | |
| odom_topic: odom |
noah_navigation2/param/noah.yaml
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| controller_server: | ||
| ros__parameters: | ||
| use_sim_time: True |
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It is ok to leave them as False here and there in this file
This parameter is being overwritten by the launch file configuration -> the nav2_bringup call.
noah_navigation2/param/noah.yaml
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| # Add high threshold velocity for turtlebot 3 issue. | ||
| # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 |
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Please remove this reference to turtlebot3
Noah nav2 is working! But currently without multiple robots.
You need to compile and source the project and later run:
ros2 launch noah_gazebo noah_gazebo.launch.pyand after that run:
ros2 launch noah_navigation2 navigation2.launch.pyOn rviz you need to initialize the initial pose before to send a goal