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Start Teminal application to open a terminal window.
Log in to the NavQPlus console:
Code Block ssh user@<navqplus-ip>
Make sure USB port #1 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
Place the robot on the initial place outside the charging base.
Start the ROS2 navigation stack:
Code Block /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b
Keep the terminal window open for the period of navigation.
Launching SLAM/Navigation Stack with PMD Flexx2 camera
By default navigation stack does not start the ToF camera
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Perform steps in node, thus resorting to LIDAR-only navigation and SLAM. However, enabling of the ToF Camera nodes allows for enhanced object avoidance during navigation because the camera input “sees” small objects in front of the robot which lie below the LIDAR scan plane.
To start the ROS2 navigation stack with the enabled ToF camera node, perform steps from Launching SLAM/Navigation Stack with replacing of the start navigation stack command towith the following one:
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/opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b -p |
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For activating the flat mode proceed with steps from Launching Rviz with replacing the start command with the following one:
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Open the Panels->Add new panel menu and select Navigation 2. The Navigation 2 panel is displayed in Rviz window.
In the Displays view press Add, in the By Topic tab select /waypoints (Marker Array) to add Marker Array to the Displays view.
On the Rviz menu toolbar press the + sign and select nav2_rviz-plugins. A new button, Nav2 Goal, appears on the toolbar.
In the Navigation 2 panel press Startup Waypoint/Nav through Poses Mode.
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.
Repeat step 5 to specify more way points.
To make the robot follow way points starting from wp_1 press Start Waypoint Following in Navigation2.
To remove the current way points in the Displays view clear the Marker Array checkbox.
To set up a new root for the robot using waypoints feature, check the Marker Array checkbox and start from Step 4.
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