5.6 Setup Navigation Mode VSLAM

Step 5.6.1 Create a copy of the default nav2 launch file

sudo cp /opt/ros/humble/share/nav2_bringup/launch/navigation_launch.py /opt/ros/humble/share/nav2_bringup/launch/mikrik_cslam_nav2_launch.py

Step 5.6.2 Add two remappings into section in L57. Open with sudo launch file

sudo vi /opt/ros/humble/share/nav2_bringup/launch/mikrik_cslam_nav2_launch.py

Add remapping

remappings = [('/tf', 'tf'),
              ('/tf_static', 'tf_static'),
              ('/cmd_vel', '/mobile_mikrik/cmd_vel'),
              ('/map', '/univloc_server/map')]

Step 5.6.3 Change inside navigation script realsense_collabslam_navigation.sh path to the nav2 configuration file relevant to your file system

cd ~/mikrik_robotics_sdk/scripts/
vi realsense_collabslam_navigation.sh

Change in line L4 path to the config file

params_file:=<your-username-here>/mikrik_robotics_sdk/nav2_configs/mikrik_robot_nav2.param.yaml