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

Follow the installtion here to get dependinces:

https://docs.nav2.org/getting_started/index.html

Link to current projects

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

Tele-Operation with PS4 controller

Launching

Open new terminal.
run: source /opt/ros/humble/setup.bash
run: source install/setup.bash
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

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

Modifying Scales

Look for the desired scale within marvin_bot_description/config/teleop_configs/umarv.config.yaml
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

Open 3 terminals.
cd ~/ros2_ws in each terminal.
run source /opt/ros/humble/setup.zsh && source install/setup.zsh in each terminal.
Terminal 1: ros2 launch marvin_simulation simulation.launch.py world:=igvc_flat
Terminal 2: ros2 launch src/nav_stack/launch/nav_stack.launch.py
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.