What I Broke – Programming and Web Development

Tag: Nav2

  • Hydroponics Robot Part 3 – Mapping Issues Continued

    Hydroponics Robot Part 3 – Mapping Issues Continued

    Hydroponics Robot Part 3 – Mapping Issues Continued Welcome back to the third part of my series on building a hydroponics robot! In this blog post, I’ll continue discussing the mapping issues I encountered while trying to navigate my robot through narrow passages and plant rows. Increasing the global costmap Previously, I tried increasing the…

  • Setting the initial pose using config in NAV2

    Setting the initial pose using config in NAV2

    While working through the articubots tutorials I have been setting my initial pose for nav2 manually using rviz2. It works but it can be a little tedious when testing changes that require frequent restarts. Luckily, there’s a small section of config in nav2_params.yaml that you can use to set your initial pose: This means that…

  • Centring and Increasing the Size of your Global Costmap – ROS2, RVIZ2 and NAV2

    Centring and Increasing the Size of your Global Costmap – ROS2, RVIZ2 and NAV2

    Hi everyone, I’ve been following the Articulated Robots tutorial series which has helped me to create a self navigating diff drive robot. One issue I ran into after implementing Nav2 was that my Global Costmap was offset from the robot. This ended up being a pretty easy fix. In your Nav2 configuration you can simply…

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