8 lines
946 B
Markdown
8 lines
946 B
Markdown
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# Nav2 with Go2
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This notes describe the process getting an exploration and mapping sytem running on the robot using the Go2Py docker and configuration files. In this setup we use the following components:
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- **ROS Robot Localization:** We use the EKF node of the ROS robot localization package to generate the odometry TF transformations based on the robot's buildin leg inertial odometry systm (`/utlidar/robot_odom`). The go2py_bridge listens to this topic and publishes `/go2/odom` messages re-stamped with dock's internal clock. The configuraiton parameters for this node are [here]().
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- **ROS SLAM Toolbox:** FOR SLAM, we use the ROS SLAM toobox that takes the odometry frames from the localization node alongside the laser scan topics from the hesai LiDAR (`/go2/scan`) to make a 2D occupancy map of the environment and the transformation between the `odom` and `map` frame.
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- **ROS2 Navigation:** Finally we use the ROS navigation2 to
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