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Nav2 usage

This document covers the new Nav2 integration in amr_nav2, including SLAM, localization, the map directory, and the Nav2 RViz workflow.

Files and directories

  • amr_nav2/launch/ld90.launch.py: LD90 Nav2 child launch
  • amr_nav2/launch/ld250.launch.py: LD250 Nav2 child launch
  • amr_nav2/launch/nav2.launch.py: Nav2 server bringup used by both robots
  • amr_nav2/launch/slam.launch.py: SLAM Toolbox integration
  • amr_nav2/launch/nav2_rviz.launch.py: RViz launcher for Nav2 workflows
  • amr_nav2/config/ld90_nav2.yaml: LD90 Nav2 parameters
  • amr_nav2/config/ld250_nav2.yaml: LD250 Nav2 parameters
  • amr_nav2/maps: map YAML files and referenced occupancy images
  • amr_nav2/rviz/nav2.rviz: Nav2 RViz config with Nav2 plugins and tools

Map directory convention

Map files now live under amr_nav2/maps.

The launch argument is a filename, not a full path.

Example layout:

amr_nav2/maps/
	warehouse.yaml
	warehouse.pgm

Example launch argument:

map:=warehouse.yaml

Start Nav2 localization

LD250 example:

source install/setup.bash
ros2 launch amr_ros ld250.launch.py use_nav2:=true use_localization:=true map:=warehouse.yaml

LD90 example:

source install/setup.bash
ros2 launch amr_ros ld90.launch.py use_nav2:=true use_localization:=true map:=warehouse.yaml

Behavior:

  • localization only starts if use_localization:=true
  • localization only starts if map is non-empty
  • the map filename is resolved relative to amr_nav2/maps

Start Nav2 SLAM

LD250 example:

source install/setup.bash
ros2 launch amr_ros ld250.launch.py use_nav2:=true use_slam:=true

LD90 example:

source install/setup.bash
ros2 launch amr_ros ld90.launch.py use_nav2:=true use_slam:=true

If both use_slam:=true and use_localization:=true are set, the launch flow suppresses localization to avoid conflicting map sources.

Launch the Nav2 RViz session

The Nav2 RViz view is separate from the legacy amr_ros RViz views.

source install/setup.bash
ros2 launch amr_nav2 nav2_rviz.launch.py

This RViz config includes:

  • Nav2 RViz panel plugin
  • map display
  • local and global costmaps
  • laser scan
  • robot model
  • TF tree
  • global and local paths
  • AMCL pose display
  • 2D Pose Estimate and 2D Goal Pose tools

Recommended workflows

Mapping workflow

  1. Launch the base and Nav2 with use_slam:=true.
  2. Launch amr_nav2 nav2_rviz.launch.py.
  3. Drive the robot and build the map in RViz.
  4. Save the map into amr_nav2/maps.

Localization workflow

  1. Copy the saved map YAML and image into amr_nav2/maps.
  2. Launch the base and Nav2 with use_localization:=true map:=your_map.yaml.
  3. Launch amr_nav2 nav2_rviz.launch.py.
  4. Use 2D Pose Estimate in RViz to initialize localization.
  5. Use 2D Goal Pose to send navigation goals.

Useful commands

Start LD250 localization and open Nav2 RViz:

ros2 launch amr_ros ld250.launch.py use_nav2:=true use_localization:=true map:=warehouse.yaml
ros2 launch amr_nav2 nav2_rviz.launch.py

Start LD90 SLAM and open Nav2 RViz:

ros2 launch amr_ros ld90.launch.py use_nav2:=true use_slam:=true
ros2 launch amr_nav2 nav2_rviz.launch.py