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Andino Navigation

We rely on Nav2 stack in order to navigate Andino.

Usage

Prerequisites

  1. 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
  1. Provide a recorded map. Refer to andino_slam to learn how to record a map with Andino.

Run Nav Stack

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):

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>