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