SVL Robot Bringup

svl_robot_bringup is a ROS2 package to assist with using Nav2, the ROS 2 navigation stack, with the SVL Simulator.

The repository contains:

• A ROS 2 node named odom_tf_node that subscribes to the /odom topic from the simulator and broadcasts the tf transform between the basefootprint and odom frames for the Cloi robot.
• A launch file which launches odom_tf_node as well as the lgsvl_bridge and the pointcloud_to_laserscan node and broadcasts a few static transforms for the sensor frames.
• A map of the LG Seocho environment available in the SVL Simulator to be used for localization and planning.
• Params for running Nav2.
• An rviz config file.

Note: this repository is currently only supported on ROS 2 Foxy.

Run the following to setup and launch:

mkdir -p robot_ws/src
cd robot_ws/src
git clone https://github.com/lgsvl/svl_robot_bringup.git
cd ..
rosdep update
rosdep install --from-path src -iy --rosdistro foxy
colcon build --symlink-install
source install/setup.bash
ros2 launch svl_robot_bringup robot_tf_launch.py