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Core startup

This document covers the launch entry points in amr_ros and how they relate to the hardware interface, robot description, and optional RViz sessions.

Packages involved

  • amr_ros: top-level launch files for LD90 and LD250
  • amr_core: hardware interface node that talks to the robot
  • amr_description: robot description and xacro files
  • amr_nav2: optional Nav2, SLAM, localization, maps, and Nav2 RViz workflow

Common startup pattern

Source the workspace before launching anything:

source install/setup.bash

Start the hardware interface only

This launches the amr_core node with amr_ros/config/parameters.yaml.

ros2 launch amr_ros amr_core.launch.py

Start LD90

This launches:

  • amr_core
  • robot_state_publisher with the LD90 description
ros2 launch amr_ros ld90.launch.py

Start LD250

This launches:

  • amr_core
  • robot_state_publisher with the LD250 description
ros2 launch amr_ros ld250.launch.py

Open the legacy robot RViz view

These views are the existing robot-centric RViz sessions from amr_ros/rviz.

ros2 launch amr_ros ld90.launch.py rviz:=true
ros2 launch amr_ros ld250.launch.py rviz:=true

Top-level launch arguments

The LD90 and LD250 top-level launches expose these common arguments:

  • rviz:=true|false: open the legacy robot RViz config from amr_ros
  • robot_description_override:=true|false: skip the default robot description if a parent launch provides one
  • use_nav2:=true|false: include the Nav2 child launch from amr_nav2
  • use_slam:=true|false: enable SLAM Toolbox in the Nav2 child launch
  • use_localization:=true|false: enable Nav2 localization in the child launch
  • nav2_params_file:=...: override the Nav2 YAML file
  • map:=filename.yaml: map YAML filename resolved under amr_nav2/maps

Startup examples

Start LD250 with Nav2 localization:

ros2 launch amr_ros ld250.launch.py use_nav2:=true use_localization:=true map:=warehouse.yaml

Start LD90 with SLAM:

ros2 launch amr_ros ld90.launch.py use_nav2:=true use_slam:=true

Notes

  • use_localization only starts localization when map is non-empty.
  • If both use_slam:=true and use_localization:=true are set, the launch flow suppresses localization so only one map-to-odom source is active.
  • The Nav2 RViz session is launched separately from amr_nav2; see nav2_usage.md.