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Pull request overview
This PR adds new ROS 2 navigation/SLAM configuration files and a new launch entrypoint that lets users choose between SLAM-based navigation and map-based navigation at launch time (including selecting which param/map files to use).
Changes:
- Added
launch/select_navigation.launch.pyto toggle SLAM vs normal Nav2 bringup and to select map/param files via launch arguments. - Added alternative Nav2 parameter sets (
param/slam_params.yaml,param/slam_camera_params.yaml) to support different sensor setups. - Added an expanded SLAM Toolbox configuration (
param/improve_slam_toolbox.yaml) with additional tuning parameters.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 5 comments.
| File | Description |
|---|---|
| param/slam_params.yaml | Adds a full Nav2 parameter set intended for SLAM/navigation use. |
| param/slam_camera_params.yaml | Adds a Nav2 parameter set that incorporates a depth camera PointCloud source for costmaps. |
| param/improve_slam_toolbox.yaml | Adds a heavily tuned SLAM Toolbox configuration for mapping behavior. |
| launch/select_navigation.launch.py | New launcher to select SLAM vs map navigation and choose config files at runtime. |
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Added options to allow the control of how the navigation behave