otomo_control

Contains config and launch files for ros2_control on otomo. Also contains the URDF description

how to launch mapping

1. launch sim or lidar driver

ros2 launch otomo_sim sim.launch.py world:=/your/world/here.sdf

# OR

ros2 launch otomo_core rplidar.launch.py

2. launch slam_toolbox

ros2 launch slam_toolbox online_async_launch.py # (with use_sim_time:=true for sim)

3. drive around to do the mapping

4. launch rviz with the slam toolbox plugin, save the map with that

how to launch navigation

1. launch sim or lidar driver

ros2 launch otomo_sim sim.launch.py world:=/your/world/here.sdf

# OR

ros2 launch otomo_core rplidar.launch.py

2. launch rviz using the nav2 config

ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/rviz/nav2_default_view.rviz                                                                                                     

3. launch nav2_bringup

ros2 launch nav2_bringup bringup_launch.py params_file:=/path/to/ws/install/otomo_control/share/otomo_control/config/nav2_jazzy_params.yaml map:=/path/to/map.yaml #use_sim_time:=True

4. set the initial pose based on real life or sim

5. set the goal marker using nav2 goal

guide to navigate while mapping

link to nav2 docs here