Quick Usage Instructions

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Odom Navigation

• Navigate in global frame of map

ros2 launch mbs_nav2_template odom_navi.launch.py

Mapping

ros2 run slam_toolbox async_slam_toolbox_node

Map Navigations

ros2 launch mbs_nav2_template odom_navi.launch.py

Dependencies

sudo apt-get install ros-$ROS_DISTRO-twist-mux\
                     ros-$ROS_DISTRO-navigation2\
                     ros-$ROS_DISTRO-nav2-bringup