Navigation stack - Kraft2k/icebox-rover GitHub Wiki

On rover

ros2 launch rplidar_ros rplidar.launch.py

On desktop run RVIZ

ros2 launch rplidar_ros view_rplidar.launch.py

Run GAZEBO

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

ros2 run turtlebot3_teleop teleop_keyboard

Run RVIZ

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Save map

ros2 run nav2_map_server map_saver_cli -f maps/turtlebot3_map

View URDF file

ros2 launch urdf_tutorial display.launch.py model:=my_robot.urdf

Install and Set Initial Pose

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=maps/turtlebot3_map.yaml

/.nav2_init_pose.py