minirys_nav2_ws

This repository contains miniRyś robot navigation system in ROS2 using the nav2 navigation software and SLAM Toolbox. Nav2 is a fully integrated navigation software that allows robots to navigate in dynamic and changing environments.

System Requirements

Before starting, ensure that your system meets the following requirements:

1. Ubuntu 22.04
2. ROS2 Humble
3. Nav2
4. SLAM Toolbox

Running the Navigation System

To run the navigation system, use the following commands:

1. Run RViz node with miniRyś robot model

ros2 launch minirys_nav2_bringup display.launch.py namespace:=<robot_namespace>

2. Run Nav2 navigation stack

ros2 launch minirys_nav2_bringup nav_launch.py namespace:=<robot_namespace>

Running SLAM Toolbox

To run SLAM, use the following commands:

1. Run RViz node with miniRyś robot model

ros2 launch minirys_nav2_bringup display.launch.py namespace:=<robot_namespace>

2. Run SLAM Toolbox node

ros2 launch minirys_nav2_bringup slam_toolbox.launch.py namespace:=<robot_namespace>

In order to save a map you can use the map_saver tool from the ros2 map_server package

ros2 run nav2_map_server map_saver_cli -f <map_file_name>