Merge branch 'main' of github.com:Rooholla-KhorramBakht/Go2Py into main

deploy/nav2_ws/maps/feb22_hallway.yaml

@@ -0,0 +1,7 @@
+image: feb22_hallway.pgm
+mode: trinary
+resolution: 0.05
+origin: [-42.3, -30, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

deploy/nav2_ws/maps/feb23_basement.yaml

@@ -0,0 +1,7 @@
+image: feb23_basement.pgm
+mode: trinary
+resolution: 0.05
+origin: [-42.4, -30.2, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py

@@ -48,7 +48,7 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', '/tf'),
                   ('/tf_static', '/tf_static'),
-                  ('/cmd_vel', '/go2/twist_cmd')]
+                  ('/cmd_vel', '/go2/cmd_vel')]
 
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {

deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml

@@ -19,7 +19,7 @@ slam_toolbox:
     # if you'd like to immediately start continuing a map at a given pose
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/maps/Feb21_hallway
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/maps/feb23_basement
     #map_start_pose: [0.33, 1.49, 0.0]
     map_start_at_dock: true