We rely on Nav2 stack in order to navigate Andino.
- Run the mobility stack in a real Andino robot or a simulated one:
Real robot
ros2 launch andino_bringup andino_robot.launch.py
Example with Gazebo Sim
All the simulation engines supported by Andino live in other repositories (check the related projects section on main README)
ros2 launch andino_gz andino_gz.launch.py
- Provide a recorded map. Refer to andino_slam to learn how to record a map with Andino.
ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file>By default, the appropriate config file is automatically selected based on the ROS 2 distro ($ROS_DISTRO):
- Humble: nav2_params_humble.yaml
- Jazzy: nav2_params_jazzy.yaml
For using a custom param file use:
ros2 launch andino_navigation bringup.launch.py map:=<path-to-my-map-yaml-file> params_file:=<path-to-my-param-file>