How to make rviz2 startup navigation automatically

asked 2022-04-20 08:45:01 -0500

WarTurtle
170 ●9 ●24 ●27

Hey, in my project, I open multiple instances of rviz2, one for each robot. Every time, I need to press the "Startup" button in Rviz for the map to show and I can publish an initial pose from a seperate script.

image description

I want this to happen from the launch file and I thought the autostart launch parameter would do this, but it does not, or maybe I'm doing something wrong.

There also does not seem to be a difference in the .rviz configuration file after pressing startup.

Any ideas?

answered 2022-04-20 08:53:01 -0500

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

I think autostart launch parameter should be good enough, can you share you launchers?

You can base your launcher on this one here: https://github.com/SteveMacenski/nav2...

Concretely this part:

bringup_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(nav2_launch_dir, 'bringup_launch.py')),
    launch_arguments={'slam': slam,
                      'map': map_yaml_file,
                      'use_sim_time': use_sim_time,
                      'params_file': params_file,
                      'autostart': 'True'}.items())

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Yes, mine looks the same with autostart set to True. My problem was that I have separated the global planner from the rest of the nav stack and launching that and rviz on a separate machine from the simulation.

After enabling autostart on the simulation machine, it worked... I wonder what lifecycle node is needed for rviz to do it?

WarTurtle ( 2022-04-22 04:06:46 -0500 )edit

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