7.1 Launch Commands Localization Mode

Note: Assuming that ROS1-ROS2 bridge is still running.

Step 7.1.1 Launch Localization Mode

cd ~/mikrik_robotics_sdk/scripts/
./realsense_collabslam_localization.sh

• After you launched localization mode, very important to check that your rviz opened correctly.
• Map created during the Mapping must be loaded, and visible in rviz, you must see moving TF-tree of the robot.
• Make sure that rviz title name on the top of window shows the path to the config file mikrik_server_localization_nav2.rviz.
• If it is not, then double check that path to the rviz config file is a correct in file below

/opt/ros/humble/share/univloc_server/launch/server_mikrik.launch.py

Step 7.1.2 You will see rviz window with Localization mode running. You no need to close rviz window, proceed with navigation node setup.