/sat_bot_description

Sample code created to understand Nav2 in ROS2, reproduced with some modifications from the Nav2 tutorial.

Primary LanguagePython

sat_bot_description

URDFを表示させ，Gazeboを起動する

ros2 launch sat_bot_description display.launch.py

SLAMを実行してmapを表示させる

ros2 launch slam_toolbox online_async_launch.py

voxel Markerを表示させる

ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker

navigationを実行する

ros2 launch nav2_bringup navigation_launch.py params_file:=/home/sugimoto/ros2_ws/src/sat_bot_description/config/nav2_params.yaml