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

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