Use the following sequence to launch the ROS2 navigation stack on NavQPlus.
Start the Teminal application to open a terminal window.
Log in to the NavQPlus console:
Make sure USB port #1 is in the host mode:
sudo sh -c 'echo host > /sys/kernel/debug/usb/38100000.usb/mode' && lsusb
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:
Keep the terminal window open for the period of navigation.
/opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b -p
NOTE: The default configuration expects that the PMD Flexx2 is mounted as described in the PMD Flexx2 SLAM Setup application note.
Start the Teminal application to open a new terminal window.
Start Rviz by typing the following command:
Keep the terminal window opened for the period of navigation..
Rviz Flat Mode
The flat mode allows seeing top view of the robot on the map as compared to the isometric projection in the default configuration. Moreover, the flat mode configuration allows showing the navigation paths as they being computed by the navigation stack which may help debugging navigation issues.
The result of flat mode launch would look similar to the screen shot below.:
Setting Movement Goals in Rviz
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.
Introduction to ROS2 Navigation and SLAM quick introduction to the ROS2 navigation concepts.
iRobot Create3 SLAM Setup application note for preparing iRobot Create3 for ROS2 navigation and SLAM.
PMD Flexx2 SLAM Setup application note form mounting the PMD ToF camera.
Setup Linux Host for Running Rviz application note for setting up a Linux host for controlling and monitoring robot navigation.