NAV2 Stack

note.nd

simpan map dari turtlebot
1. ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
2. ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
3. ros2 run turtlebot3_teleop teleop_keyboard
4. ros2 run nav2_map_server map_saver_cli -f ./house_map

,,

change the DDS
sudo apt install ros-humble-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
/opt/ros/humble/share/turtlebot3_navigation2/param
$ sudo gedit waffle.yaml
#robot_model_type: "differential"
robot_model_type: "nav2_amcl::DifferentialMotionModel"

run robot with generated map
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=learn_ws/src/maps/house_map.yaml

ROS python nav2 control API
sudo apt install ros-humble-nav2-simple-commander
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True map:=learn_ws/src/maps/my_world.yaml 
rviz2

ROS python nav2 simple commander
sudo apt install ros-humble-nav2-simple-commander
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=learn_ws/src/maps/my_world.yaml
./nav2_test.py