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  1. Components
  2. Usage


The nav2_platform stack contains several component packages:

  1. nav2_bringup contains the launch files for starting the Nav2 node and associated ROS components.

  2. nav2_driver contains the ROS driver node for the Nav2 remote control API.

  3. nav2_navigation contains the configuration files for using Nav2 with the ROS navigation stack.


To configure the Nav2 robot for usage, you should edit the launch files located in the nav2_bringup package. This is best done by cloning the package into your catkin workspace overlay, and making your changes locally:

#Create a catkin workspace if you don't have one yet
source /opt/ros/$(rosversion -d)/setup.bash
mkdir -p ~/catkin_ws/src
catkin_init_workspace ~/catkin_ws/src

#Clone the nav2_platform git repo
cd ~/catkin_ws/src
git clone https://github.com/paulbovbel/nav2_platform.git
cd ~/catkin_ws/
source devel/setup.bash

The Nav2 base can be controlled immediately by setting the appropriate IP/Hostname and port in the nav2_robot.launch launch file. This launch file will start the nav2_driver node with the appropriate parameters, meaning that it will listen for Twist commands on the /cmd_vel topic, and output the appropriate transforms and odometry messages on /tf and odom respectively.

#Configure correct IP/Hostname and port
rosed nav2_bringup nav2_robot.launch
#Launch the robot bringup launch file
roslaunch nav2_bringup nav2_robot.launch

To use the Nav2 with ROS navigation and mapping packages, you need to configure the sensor and appropriate parameters. Demo configurations for OpenNI (e.g. MS Kinect, Asus Xtion) and Hokuyo (i.e. URG-XX) compatible sensors are provided (but commented out) in the nav2_robot.launch launch file.

2024-07-06 13:16