nav_stack

Clone this repo into src directory.

If your looking for the nav/sensors onboarding go here instead: https://github.com/umigv/nav-onboarding-2024

Link to current projects

https://docs.google.com/document/d/10k_sBHWKxRfVZ4LImK5-UW2cgy3Yt_E14yCGoBRWqZw/edit?usp=sharing

Tele-Operation with PS4 controller

Launching

1. Open new terminal.
2. run: source /opt/ros/humble/setup.bash
3. run: source install/setup.bash
4. run: ros2 launch marvin_bot_description teleop_launch.py

Current Controls

Enable Button: L2
Turbo Button: L1
Forward / Backward: Left Stick
Rotate Left / Rotate Right: Right Stick

Rebinding Buttons

1. Follow Launching
2. Open new terminal.
3. run ros2 topic echo /joy
4. Press the button you want to bind a control to
5. Look for where a 1 appears. The row of the buttons list that it appears in is the button id, zero-indexed.
6. Replace the button id within marvin_bot_description/config/teleop_configs/umarv.config.yaml

Modifying Scales

1. Look for the desired scale within marvin_bot_description/config/teleop_configs/umarv.config.yaml
2. Replace it with your desired scale.

IMPORTANT: the scale must end in .0 if it does not have any digits below the ones place (e.g. scale of 5 must instead be 5.0)

Running Nav Stack on Razor

1. Open 3 terminals.
2. cd ~/ros2_ws in each terminal.
3. run source /opt/ros/humble/setup.zsh && source install/setup.zsh in each terminal.
4. Terminal 1: ros2 launch marvin_simulation simulation.launch.py world:=igvc_flat
5. Terminal 2: ros2 launch src/nav_stack/launch/nav_stack.launch.py
6. Terminal 3: ros2 run tf2_ros static_transform_publisher "0" "0" "0" "0" "0" "0" "map" "odom"
   Note the static transform publisher will not need to be called when running the sensors stack.