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Hello,
I'm trying to setup a nav2 simulation for my robot.
The bringup_launch.py expects a yaml map as input.
I don't want to provide a prior map, but if I don't provide it the robot won't move when I send a goal.
I expected that nav2 would use the global and local maps...
Is it possible to use Nav2 without a prior map ?
Yes, it is, e.g. during SLAM:
https://navigation.ros.org/tutorials/...
1- Launch Navigation2
Launch Navigation without nav2_amcl and nav2_map_server. It is assumed that the SLAM node(s) will publish to
/maptopic and provide themap->odomtransform.ros2 launch nav2_bringup navigation_launch.py2- Launch SLAM
Bring up your choice of SLAM implementation. Make sure it provides the map->odom transform and /map topic. Run Rviz and add the topics you want to visualize such as /map, /tf, /laserscan etc. For this tutorial, we will use SLAM Toolbox.
ros2 launch slam_toolbox online_async_launch.py3- Working with SLAM
Move your robot by requesting a goal through RViz or the ROS 2 CLI (...)
Hi @MrOCW, I'm doing navigation without a prior map, but I still have the global_costmap and local_costmap enabled otherwise the robot cannot know where are the obstacles. I plan to do SLAM in the future but I was doing this just to try things. Here is my param file http://pastebin.fr/107286, hope it helps
Asked: 2022-06-06 04:35:01 -0500
Seen: 1,320 times
Last updated: Jun 06 '22
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