CLEARPATH Turtlebot4 User Manual page 67

Nav2
Nav2 is the official navigation stack in ROS2. Nav2 can be used to calculate and execute a
travel path for the robot by using a map of its surroundings. The map can be loaded at launch or
generated with SLAM
Launching Navigation
Launch files
● Nav Bringup: Launches Nav2 nodes, with the option to launch SLAM or Localization as
well.
Parameters
● nav2: Whether to launch Nav2 nodes.
○ options: [true, false]
○ default: true
● slam: Launch SLAM along with Nav2.
○ options: [off, sync, async]
○ default: off
● localization: Launch localization with an existing map
○ options: [true, false]
○ default: false
● map: Path to existing map.
○ default: /path/to/turtlebot4_navigation/maps/depot.yaml
● params_file: Full path to parameter file for Nav2 and localization nodes.
○ default: /path/to/turtlebot4_navigation/config/nav2.yaml
Configuration
The default TurtleBot 4 configuration can be found here. It is a slightly modified version of the
default configuration from the Nav2 github. The configuration file allows the user to modify
parameters such as velocity while pathing, the radius of the robot, costmap update frequencies
and resolutions, and more. For more information, read the Nav2
while navigating.
configuration guide.