CLEARPATH Turtlebot4 - Page 34

● SLAM Async: Launches slam_toolbox with online asynchronous mapping.
Recommended for use on the Raspberry Pi 4.
Nav Bringup launch configuration options:
● namespace: Top-level namespace.
○ default: None
● use_namespace: Whether to apply a namespace to the navigation stack.
○ options: true, false
○ default: false
● slam: Whether to launch SLAM.
○ options: off, sync, async
○ default: off
● localization: Whether to launch localization.
○ options: true, false
○ default: false
● nav2: Whether to launch Nav2.
○ options: true, false
○ default: false
● map: Full path to map yaml file to load.
○ default: /path/to/turtlebot4_navigation/maps/depot.yaml
● use_sim_time: Use simulation (Gazebo) clock if true.
○ options: true, false
○ default: false
● param_file: Full path to the ROS2 parameters file to use for nav2 and localization
nodes.
○ default: /path/to/turtlebot4_navigation/config/nav2.yaml
● autostart: Automatically startup the nav2 stack.
○ options: true, false
○ default: true
● use_composition: Whether to use composed bringup.
○ options: true, false
○ default: true
Running synchronous SLAM:
ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=sync
Running asynchronous SLAM with Nav2:
ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=async
Running Nav2 with localization and existing map: