CLEARPATH Turtlebot4 User Manual page 54

Ignition launch configuration options:
● model: Which TurtleBot 4 model to use.
○ options: standard, lite
○ default: standard
● rviz: Whether to launch rviz.
○ options: true, false
○ default: false
● slam: Whether to launch SLAM.
○ options: off, sync, async
○ default: off
● nav2: Whether to launch Nav2.
○ options: true, false
○ default: false
● param_file: Path to parameter file for turtlebot4_node.
○ default: /path/to/turtlebot4_ignition_bringup/config/turtlebot4_node.yaml
● world: Which world to use for simulation.
○ default: depot
● robot_name: What to name the spawned robot.
○ default: turtlebot4
Running the simulator with default settings:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
Running synchronous SLAM with Nav2:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true
Ignition GUI Plugins
The turtlebot4_ignition_gui_plugins
GUI plugin.
The TurtleBot 4 HMI GUI plugin
Create® 3 HMI GUI
package contains the source code for the TurtleBot 4 HMI
is only used for the standard model. The lite model uses the
plugin.