README.md

Parameter Configuration

Note: In this workshop we will use rqt_reconfigure to modify parameters. In a production environment, it is recommended to modify parameters directly in the Nav2 YAML configuration file.

1. Launch the simulation environment with Kobuki:

ros2 launch easynav_playground_kobuki playground_kobuki.launch.py

2. In another terminal, launch the navigation stack with the generated map:

ros2 launch nav2_playground navigation_launch.py map:=<path-to-generated-yaml>

3. With the navigation stack running, open rqt:

rqt

4. In rqt, go to Plugins → Configuration → Dynamic Reconfigure

5. Explore and modify parameters of different Nav2 plugins, such as modifying the inflation radius of the local_costmap and global_costmap:

Before → Global Costmap (after) → Local Costmap (after)

6. Modify the costmap layers by editing the nav2_kobuki_params.yaml file:

   For the Global Costmap:

   • Remove the obstacle_layer layer

   For the Local Costmap:

   • Remove the voxel_layer layer
   • Add the obstacle_layer layer in its place

   After modifying the file, relaunch the navigation stack to apply the changes.