added husky nav2 and slam stack

locker98_tools/locker98_tools/joy_teleop.py

@@ -12,7 +12,7 @@ class JoyTeleopNode(Node):
     def __init__(self, joystick):
         super().__init__("joy_teleop")
         self.joystick = joystick
-        self.publisher_ = self.create_publisher(Twist, "/cmd_vel", 10)
+        self.publisher_ = self.create_publisher(Twist, "/a200_0651/cmd_vel", 10)
         self.timer_ = self.create_timer(0.1, self.publish_news)
         self.get_logger().info("Starting the robot news station")
 
@@ -21,7 +21,7 @@ class JoyTeleopNode(Node):
 
         msg = Twist()
         msg.linear.x = move*2
-        msg.angular.z = r*2
+        msg.angular.z = -r*2
         self.publisher_.publish(msg)
 
     def get_joystick_right_stick(self):

locker98_tools_bringup/CMakeLists.txt

@@ -9,7 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch rviz worlds
+  DIRECTORY launch worlds config
   DESTINATION share/${PROJECT_NAME}/
 )
 

locker98_tools_bringup/config/a200/localization.yaml

@@ -0,0 +1,55 @@
+amcl:
+  ros__parameters:
+    use_sim_time: False
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_link"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: sensors/lidar3d_0/scan
+
+map_server:
+  ros__parameters:
+    use_sim_time: False
+    # Overridden in launch by the "map" launch configuration or provided default value.
+    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+    yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    use_sim_time: False
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True

locker98_tools_bringup/config/a200/nav2.yaml

@@ -0,0 +1,293 @@
+ 
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: platform/odom/filtered
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+    - nav2_compute_path_to_pose_action_bt_node
+    - nav2_compute_path_through_poses_action_bt_node
+    - nav2_smooth_path_action_bt_node
+    - nav2_follow_path_action_bt_node
+    - nav2_spin_action_bt_node
+    - nav2_wait_action_bt_node
+    - nav2_assisted_teleop_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
+    - nav2_clear_costmap_service_bt_node
+    - nav2_is_stuck_condition_bt_node
+    - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
+    - nav2_globally_updated_goal_condition_bt_node
+    - nav2_is_path_valid_condition_bt_node
+    - nav2_initial_pose_received_condition_bt_node
+    - nav2_reinitialize_global_localization_service_bt_node
+    - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
+    - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_truncate_path_local_action_bt_node
+    - nav2_goal_updater_node_bt_node
+    - nav2_recovery_node_bt_node
+    - nav2_pipeline_sequence_bt_node
+    - nav2_round_robin_node_bt_node
+    - nav2_transform_available_condition_bt_node
+    - nav2_time_expired_condition_bt_node
+    - nav2_path_expiring_timer_condition
+    - nav2_distance_traveled_condition_bt_node
+    - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
+    - nav2_is_battery_low_condition_bt_node
+    - nav2_navigate_through_poses_action_bt_node
+    - nav2_navigate_to_pose_action_bt_node
+    - nav2_remove_passed_goals_action_bt_node
+    - nav2_planner_selector_bt_node
+    - nav2_controller_selector_bt_node
+    - nav2_goal_checker_selector_bt_node
+    - nav2_controller_cancel_bt_node
+    - nav2_path_longer_on_approach_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
+    - nav2_assisted_teleop_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.3
+      yaw_goal_tolerance: 0.3
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 1.0
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 1.0
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 0.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 0.5
+      decel_lim_x: -0.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -0.5
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 12.0
+      RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 5
+      height: 5
+      resolution: 0.06
+      footprint: "[ [0.55, 0.45], [0.55, -0.45], [-0.55, -0.45], [-0.55, 0.45] ]"
+      plugins: ["static_layer", "voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 4.0
+        inflation_radius: 0.8
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: sensors/lidar3d_0/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      footprint: "[ [0.55, 0.45], [0.55, -0.45], [-0.55, -0.45], [-0.55, 0.45] ]"
+      resolution: 0.06
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: sensors/lidar3d_0/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 4.0
+        inflation_radius: 0.8
+      always_send_full_costmap: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_tolerance: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.2
+    rotational_acc_lim: 0.5
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: True
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: True
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [1.0, 0.0, 1.0]
+    min_velocity: [-1.0, 0.0, -1.0]
+    max_accel: [0.5, 0.0, 0.5]
+    max_decel: [-0.5, 0.0, -0.5]
+    odom_topic: "platform/odom/filtered"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0

locker98_tools_bringup/config/a200/slam.yaml

@@ -0,0 +1,75 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: sensors/lidar3d_0/scan
+    use_map_saver: true
+    mode: mapping #localization
+
+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    #map_file_name: test_steve
+    # map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
+
+    debug_logging: true
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.05
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true
+    loop_match_minimum_chain_size: 10
+    loop_match_maximum_variance_coarse: 3.0
+    loop_match_minimum_response_coarse: 0.35
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5
+    angle_variance_penalty: 1.0
+
+    fine_search_angle_offset: 0.00349
+    coarse_search_angle_offset: 0.349
+    coarse_angle_resolution: 0.0349
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true

locker98_tools_bringup/launch/husky.localization.launch.py

@@ -0,0 +1,88 @@
+from ament_index_python.packages import get_package_share_directory
+import os
+from clearpath_config.common.utils.yaml import read_yaml
+from clearpath_config.clearpath_config import ClearpathConfig
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+    OpaqueFunction
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution
+)
+
+from launch_ros.actions import PushRosNamespace
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('use_sim_time', default_value='false',
+                          choices=['true', 'false'],
+                          description='Use sim time'),
+    DeclareLaunchArgument('setup_path',
+                          default_value='/etc/clearpath/',
+                          description='Clearpath setup path')
+]
+
+
+def launch_setup(context, *args, **kwargs):
+    # Packages
+    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
+    package_config_path = get_package_share_directory('locker98_tools_bringup')
+
+    # Launch Configurations
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    setup_path = LaunchConfiguration('setup_path')
+    map = LaunchConfiguration('map')
+
+    # Read robot YAML
+    config = read_yaml(setup_path.perform(context) + 'robot.yaml')
+    # Parse robot YAML into config
+    clearpath_config = ClearpathConfig(config)
+
+    namespace = clearpath_config.system.namespace
+    platform_model = clearpath_config.platform.get_platform_model()
+
+    file_parameters = os.path.join(
+        package_config_path,
+        'config',
+        platform_model,
+        'localization.yaml'
+    )
+   
+
+
+    launch_localization = PathJoinSubstitution(
+      [pkg_nav2_bringup, 'launch', 'localization_launch.py'])
+
+    localization = GroupAction([
+        PushRosNamespace(namespace),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_localization),
+            launch_arguments=[
+                ('namespace', namespace),
+                ('map', map),
+                ('use_sim_time', use_sim_time),
+                ('params_file', file_parameters)
+              ]
+        ),
+    ])
+
+    return [localization]
+
+
+def generate_launch_description():
+    map_arg = DeclareLaunchArgument(
+        'map',
+        description='Full path to map yaml file to load')
+
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(map_arg)
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

locker98_tools_bringup/launch/husky.nav2.launch.py

@@ -0,0 +1,86 @@
+from ament_index_python.packages import get_package_share_directory
+import os
+from clearpath_config.common.utils.yaml import read_yaml
+from clearpath_config.clearpath_config import ClearpathConfig
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+    OpaqueFunction
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution
+)
+
+from launch_ros.actions import PushRosNamespace, SetRemap
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('use_sim_time', default_value='false',
+                          choices=['true', 'false'],
+                          description='Use sim time'),
+    DeclareLaunchArgument('setup_path',
+                          default_value='/etc/clearpath/',
+                          description='Clearpath setup path')
+]
+
+
+def launch_setup(context, *args, **kwargs):
+    # Packages
+    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
+    package_config_path = get_package_share_directory('locker98_tools_bringup')
+
+    # Launch Configurations
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    setup_path = LaunchConfiguration('setup_path')
+
+    # Read robot YAML
+    config = read_yaml(setup_path.perform(context) + 'robot.yaml')
+    # Parse robot YAML into config
+    clearpath_config = ClearpathConfig(config)
+
+    namespace = clearpath_config.system.namespace
+    platform_model = clearpath_config.platform.get_platform_model()
+
+    file_parameters = os.path.join(
+        package_config_path,
+        'config',
+        platform_model,
+        'nav2.yaml'
+    )
+
+    
+
+    launch_nav2 = PathJoinSubstitution(
+      [pkg_nav2_bringup, 'launch', 'navigation_launch.py'])
+
+    nav2 = GroupAction([
+        PushRosNamespace(namespace),
+        SetRemap('/' + namespace + '/global_costmap/sensors/lidar3d_0/scan',
+                 '/' + namespace + '/sensors/lidar3d_0/scan'),
+        SetRemap('/' + namespace + '/local_costmap/sensors/lidar3d_0/scan',
+                 '/' + namespace + '/sensors/lidar3d_0/scan'),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_nav2),
+            launch_arguments=[
+                ('use_sim_time', use_sim_time),
+                ('params_file', file_parameters),
+                ('use_composition', 'False'),
+                ('namespace', namespace)
+              ]
+        ),
+    ])
+
+    return [nav2]
+
+
+def generate_launch_description():
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

locker98_tools_bringup/launch/husky.slam.launch.py

@@ -0,0 +1,89 @@
+from ament_index_python.packages import get_package_share_directory
+import os
+from clearpath_config.common.utils.yaml import read_yaml
+from clearpath_config.clearpath_config import ClearpathConfig
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    OpaqueFunction
+)
+
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution
+)
+
+from launch_ros.actions import Node
+
+from nav2_common.launch import RewrittenYaml
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('use_sim_time', default_value='false',
+                          choices=['true', 'false'],
+                          description='Use sim time'),
+    DeclareLaunchArgument('setup_path',
+                          default_value='/etc/clearpath/',
+                          description='Clearpath setup path')
+]
+
+
+def launch_setup(context, *args, **kwargs):
+    # Packages
+    package_config_path = get_package_share_directory('locker98_tools_bringup')
+
+    # Launch Configurations
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    setup_path = LaunchConfiguration('setup_path')
+
+    # Read robot YAML
+    config = read_yaml(setup_path.perform(context) + 'robot.yaml')
+    # Parse robot YAML into config
+    clearpath_config = ClearpathConfig(config)
+
+    namespace = clearpath_config.system.namespace
+    platform_model = clearpath_config.platform.get_platform_model()
+
+    file_parameters = os.path.join(
+        package_config_path,
+        'config',
+        platform_model,
+        'slam.yaml'
+    )
+
+
+
+    rewritten_parameters = RewrittenYaml(
+        source_file=file_parameters,
+        root_key=namespace,
+        param_rewrites={},
+        convert_types=True
+    )
+
+    slam = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        namespace=namespace,
+        output='screen',
+        parameters=[
+          rewritten_parameters,
+          {'use_sim_time': use_sim_time}
+        ],
+        remappings=[
+          ('/tf', 'tf'),
+          ('/tf_static', 'tf_static'),
+          ('/scan', 'sensors/lidar3d_0/scan'),
+          ('/map', 'map'),
+          ('/map_metadata', 'map_metadata'),
+        ]
+    )
+
+    return [slam]
+
+
+def generate_launch_description():
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

locker98_tools_bringup/launch/nav2.launch.py

@@ -15,7 +15,7 @@ def generate_launch_description():
     # Define RViz config path
     rviz_config_path = os.path.join(
         get_package_share_directory('locker98_tools_bringup'),
-        'rviz', 'nav2_config.rviz'
+        'config', 'rviz', 'nav2_config.rviz'
     )
 
     # Include the bringup launch file

locker98_tools_bringup/launch/nav2.launch.xml

@@ -11,6 +11,6 @@
 
     <!-- RViz node -->
     <node pkg="rviz2" exec="rviz2" output="screen">
-        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
+        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/config/rviz/nav2_config.rviz" />
     </node>
 </launch>

locker98_tools_bringup/launch/slam.launch.py

@@ -37,7 +37,7 @@ def generate_launch_description():
         executable='rviz2',
         output='screen',
         arguments=[
-            '-d', os.path.join(locker98_tools_bringup_dir, 'rviz', 'slam_config.rviz')
+            '-d', os.path.join(locker98_tools_bringup_dir, 'config', 'rviz', 'slam_config.rviz')
         ]
     )
 

locker98_tools_bringup/launch/slam.launch.xml

@@ -10,6 +10,6 @@
     </include>
     
     <node pkg="rviz2" exec="rviz2" output="screen">
-        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
+        <param name="config" value="$(find-pkg-share locker98_tools_bringup)/config/rviz/nav2_config.rviz" />
     </node>
 </launch>