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 Classic

ros2 launch andino_gz_classic andino_one_robot.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, config file is used. 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>