Attention
As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.
Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.
Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1
continues to be available on the release-2.1
branches of the Isaac ROS
GitHub repositories.
The original documentation for Isaac ROS 2.1 is preserved below.
Isaac ROS VDA5050 NAV2 Client
Source code on 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
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 |
---|---|---|---|
|
|
|
Whether to apply a namespace to the navigation stack |
|
|
|
Whether to use composed Nav2 bringup |
|
|
|
Whether to use simulation (Omniverse Isaac Sim) clock |
|
|
|
The initial position X coordinate |
|
|
|
The initial position Y coordinate |
|
|
|
The initial yaw orientation |
|
|
|
The full path to the occupancy map file to load |
|
|
|
The full path to the navigation parameter file to load |
|
|
|
The full path to the JSON Info Generator parameter file to load |
|
|
|
Launches RViz if |