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Go2Py_SIM
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new map added and navigation cmd_vel remapped to /go2/twist_cmd

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Rooholla-KhorramBakht 2024-02-23 02:10:56 +08:00
parent 9852be991f
commit 5747142ac0
5 changed files with 9 additions and 1 deletions
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deploy/nav2_ws/maps/feb22_room.data Normal file
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deploy/nav2_ws/maps/feb22_room.yaml Normal file
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@ -0,0 +1,7 @@
image: feb22_room.pgm
mode: trinary
resolution: 0.05
origin: [-4.24, -5.54, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
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@ -47,7 +47,8 @@ def generate_launch_description():
# TODO(orduno) Substitute with `PushNodeRemapping` # TODO(orduno) Substitute with `PushNodeRemapping`
# https://github.com/ros2/launch_ros/issues/56 # https://github.com/ros2/launch_ros/issues/56
remappings = [('/tf', '/tf'), remappings = [('/tf', '/tf'),
('/tf_static', '/tf_static')] ('/tf_static', '/tf_static'),
('/cmd_vel', '/go2/twist_cmd')]
# Create our own temporary YAML files that include substitutions # Create our own temporary YAML files that include substitutions
param_substitutions = { param_substitutions = {