rox_navigation

Summary

All the ROX robots are pre-configured with the amazing Nav2 stack. The information about the planners and controllers that could be used on the platform is Nav2 - ROS 2 Navigation Stack

Location: https://github.com/neobotix/rox/tree/rolling/rox_navigation

This package in particular holds the configs, launch and the necessary map files for the autonomous navigation of the ROX robots.

Configurations

The config folder contains the behaviors trees and the configs for the mapping and the navigation.

The navigation_short_frame.yaml and navigation_long_frame.yaml holds all the necessary navigation configs for the ROX robots with short frame and long frame respectively.

The parameters in these files is something that a user would be interested in tuning for adapting the robot to a particular application.

Please read the page Nav2 - ROS 2 Navigation Stack for more information regarding the configuration.

Launch

The launch folder holds the necessary launch files the mapping and navigation.

The navigation.launch.py start the localization node and as well as the activates all the necessary planners, controllers and behavior tree lifecycle nodes for navigation.

The launch arguments for the navigation launch are as follows:

Tip

Please run the same command as shown below to check for the updation of launch arguments

neobotix@rox:~/ros2_workspace$ ros2 launch rox_navigation navigation.launch.py --show-arguments

    'frame_type':
        Frame type - Options: short/long
        (default: 'short')

    'rox_type':
        Robot type - Options: argo/diff/trike/meca
        (default: 'argo')

    'use_sim_time':
        Use simulation clock if true
        (default: 'false')

    'autostart':
        Automatically start the nav2 stack
        (default: 'true')

    'robot_namespace':
        Top-level namespace
        (default: '')

    'use_multi_robots':
        Use multi robots
        (default: 'False')

    'head_robot':
        Head robot
        (default: 'False')

    'use_amcl':
        Use AMCL
        (default: 'False')

    'map':
        Full path to map file to load
        (default: '/home/neobotix/ros2_workspace/install/rox_navigation/share/rox_navigation/maps/neo_workshop.yaml')

    'nav2_params_file':
        Full path to the Nav2 parameters file to load
        (default: '/home/neobotix/ros2_workspace/install/rox_navigation/share/rox_navigation/configs/navigation_short_frame.yaml')

Example launch:

ros2 launch rox_navigation navvigation.launch.py