=============================== |package name| =============================== :ir_github:` ` Overview ^^^^^^^^ Besides launching ``isaac_ros_vda5050_client.py``, this launch script also launches the ``nav2_bringup`` launch script (through the Nav2 ``bringup_launch.py`` script) and JsonInfoGeneratorNode in the ``isaac_ros_json_info_generator`` package (the README for this package is in the ``isaac_ros_json_info_generator`` folder). This script has the following parameters in addition to the parameters listed above. Usage ^^^^^ .. code:: bash ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_nav2_client.launch.py namespace:=<"namespace for ros graph"> mqtt_host_name:=<"mqtt_host_name"> mqtt_pub_topic:=<"mqtt_pub_topic"> ros_subscriber_type:=<"ros_subscriber_type"> ros_to_mqtt_name:=<"ros_to_mqtt_name"> mqtt_sub_topic:=<"mqtt_sub_topic"> ros_publisher_type:=<"ros_publisher_type"> mqtt_to_ros_name:=<"mqtt_to_ros_name"> ROS Parameters ^^^^^^^^^^^^^^ ============================== ========== ================================================================================================================================================== =============================================================== ROS Parameter Type Default Description ============================== ========== ================================================================================================================================================== =============================================================== ``use_namespace`` ``bool`` ``false`` Whether to apply a namespace to the navigation stack ``use_composition`` ``bool`` ``false`` Whether to use composed Nav2 bringup ``use_sim_time`` ``bool`` ``false`` Whether to use simulation (Omniverse Isaac Sim) clock ``init_pose_x`` ``float`` ``0.0`` The initial position X coordinate ``init_pose_y`` ``float`` ``0.0`` The initial position Y coordinate ``init_pose_yaw`` ``float`` ``0.0`` The initial yaw orientation ``map`` ``string`` ``/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_mission_client/isaac_ros_vda5050_nav2_client_bringup/maps/carter_warehouse_navigation.yaml`` The full path to the occupancy map file to load ``nav_params_file`` ``string`` ``/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_mission_client/isaac_ros_vda5050_nav2_client_bringup/config/carter_navigation_params.yaml`` The full path to the navigation parameter file to load ``info_generator_params_file`` ``string`` ``/home/$USER/workspaces/isaac_ros-dev/src/isaac_ros_mission_client/isaac_ros_vda5050_nav2_client_bringup/config/json_info_generator_params.yaml`` The full path to the JSON Info Generator parameter file to load ``launch_rviz`` ``bool`` ``false`` Launches RViz if ``true`` ============================== ========== ================================================================================================================================================== =============================================================== .. |package name| replace:: Isaac ROS VDA5050 NAV2 Client