amr_nav2_bringup

Minimal and practical Nav2 bringup for AMR simulation or hardware integration.

What this package includes

• bringup_slam.launch.py: SLAM mapping + Nav2.
• bringup_localization.launch.py: map-based localization (AMCL) + Nav2.
• odom_child_frame_fix: republishes /odom to /odometry/filtered and fixes child_frame_id/optional TF.
• lifecycle_activator: generic lifecycle activator used for SLAM toolbox and Nav2 fallback activation.
• robot_description_publisher: publishes URDF string to /robot_description for RViz RobotModel.
• cmd_vel_to_diff_wheel: converts /cmd_vel (Twist) to /diff_wheel_cmd (left/right wheel command).
• goal_bridge (optional): forwards /goal_pose to Nav2 NavigateToPose action.

Node folder layout

• amr_nav2_bringup/nodes/orchestration: startup/lifecycle flow control nodes.
• amr_nav2_bringup/nodes/adapters: topic/action conversion and compatibility nodes.
• amr_nav2_bringup/nodes/visualization: RViz or model-display support nodes.
• amr_nav2_bringup/nodes/sensors: sensor communication and preprocessing nodes (for now kept in this package).

Prerequisites

• Ubuntu + ROS 2 Jazzy (or compatible distro). Install these ROS 2 packages:
• nav2_bringup
• nav2_amcl
• nav2_map_server
• slam_toolbox
• robot_localization
• rviz2

Build

cd workspace # amr_ws, nav2_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
source install/setup.bash

Run

1) SLAM mode (scan and build map)

cd /path/to/amr_ws/src/amr_nav2_bringup/scripts
bash slam_run.sh

2) Save map after SLAM scan is complete

Keep slam_run.sh running, then execute this in another terminal:

cd /path/to/amr_ws/src/amr_nav2_bringup/scripts
mkdir -p ../config/maps
bash ros2_env.sh run nav2_map_server map_saver_cli -f ../config/maps/my_map

Generated files:

• ../config/maps/my_map.yaml
• ../config/maps/my_map.pgm

3) Localization mode (use saved map + navigate)

cd /path/to/amr_ws/src/amr_nav2_bringup/scripts
MAP_YAML=../config/maps/my_map.yaml bash localization_run.sh

4) Override RViz config (optional)

cd /path/to/amr_ws/src/amr_nav2_bringup/scripts
bash slam_run.sh use_rviz:=true rviz_config:=../config/amr_nav2_map_only.rviz

5) Localization mode with extra launch args (optional)

cd /path/to/amr_ws/src/amr_nav2_bringup/scripts
MAP_YAML=../config/maps/my_map.yaml bash localization_run.sh use_rviz:=false

Required input topics (from simulator/drivers)

• /odom (nav_msgs/Odometry)
• /imu (sensor_msgs/Imu, frame_id expected: sim_imu)
• /laser_scan (sensor_msgs/LaserScan, frame_id expected: sim_lidar)

Main output topics

• /cmd_vel (geometry_msgs/Twist)
• /diff_wheel_cmd (std_msgs/Float64MultiArray)
• /robot_description (std_msgs/String, transient local)

Notes

• You can adjust topic names and behavior in config/*.yaml.
• If RViz fails to open in some environments, this launch already sets software OpenGL fallback variables.