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 Classic
ros2 launch andino_gz_classic andino_one_robot.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, 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>