Configuring Nav2 and Slam Toolbox for your robot
This section shows how to create a ROS 2 package to implement autonomous navigation for our robot using Nav2. The package mainly contains launch and parameter files for starting and configuring Nav2 nodes. It can be found in the Chapter08/rosbot_nav2_bringup folder.
The rosbot navigation package contains the following files:
Figure 8.10: rosbot navigation 2 package structure
You can find a set of launch files in the launch folder: nav2.launch.py, which starts the Nav2 nodes, slam_online_async.launch.py and slam_online_sync.launch.py for mapping, and slam_nav2.launch.py for mapping in conjunction with navigation. In the maps folder, we can see a saved map of a hospital environment. Following the launch files, the next important part of the package is the params folder. It contains parameters for the AMCL node, Nav2 nodes, and Slam Toolbox. Configuring the Nav2 stack involves setting these parameters. We have observed...
