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Dmitry Bazhenov

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See below the picture of NAVQ+ with installed heatsinks:

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launch
launch
Launching SLAM/Navigation Stack

  1. Open a terminal window.

  2. Log in to the NavQPlus console:

    Code Block
    ssh user@<navqplus-ip>

  3. Make sure USB1 is in the host mode:

    Code Block
    sudo sh -c 'echo host > /sys/kernel/debug/usb/38100000.usb/mode' && lsusb

    Output:

    Code Block
    Bus 002 Device 002: ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 005: ID 2109:0101 VIA Labs, Inc. USB 2.0 BILLBOARD
Bus 001 Device 004: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 003: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
Bus 001 Device 002: ID 0451:8142 Texas Instruments, Inc. TUSB8041 4-Port Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

  4. Place the robot on the initial place outside the base.

  5. Start the navigation applications:

    Code Block
    /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b

  6. Leave the window open with the application running.

Launching SLAM/Navigation Stack with PMD camera

  1. Performs steps 1-4 from Launching SLAM/Navigation Stack

  2. Start the navigation applications:

    Code Block
    /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b -p

  3. Leave the window open with the application running.

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rviz
rviz
Launching Rviz

Perform the steps below on your Desktop PC:

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  1. Open the Panels->Add new panel menu and select Navigation 2. The Navigation 2 panel is displayed in Rviz window.

  2. In the Displays view press Add, in the By Topic tab select /waypoints (Marker Array) to add Marker Array to the Displays view.

  3. On the Rviz menu toolbar press the + sign and select nav2_rizrviz-plugins. A new button, Nav2 Goal, appears on the toolbar.

  4. In the Navigation 2 panel press Startup Waypoint/Nav through Poses Mode.

  5. Press Nav2 Goal on the toolbar and click on the map in Rviz window to specify a way point. wp_1 appears on the map.

  6. Repeat step 5 to specify more way points.

  7. To make the robot follow way points starting from wp_1 press Start Waypoint Following in Navigation2.

  8. To remove the current way points in the Displays view clear the Marker Array checkbox.

  9. To set up a new root for the robot using waypoints feature, check the Marker Array checkbox and start from Step 4.

Launching Rviz (flat mode)

Flat mode allows seeing top view of the robot on the map as compared to the isometric projection in the normal mode. Moreover, the flat mode configuration allows showing the navigation paths as they being computed by the navigation stack which may help debugging navigation issues.

  1. Performs steps 1-4 from Launching Rviz

  2. Start Rviz:

    Code Block
    /opt/ros/humble/share/create3_slam_launch/scripts/start_rviz -flat

The result of flat mode launch is shown on the screen shot below.

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