From the Navigation Demo: Demo 1 - Mapping & Navigation - Stretch Docs
With the navigation python command, when we run:
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/nav2_demo_map.yaml
, we get rviz to show but the “Startup” button is greyed out. The workaround I have found is to run ros2 launch stretch_web_teleop web_interface.launch.py in a separate terminal to be able to navigate the robot.
Ideally, it would be nice if the navigation script on its own, but was wondering if there was an issue with our set up…
Here is an image after running ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/nav2_demo_map.yaml
Switching Global Options → Fixed Frame → map to base_footprint, we can see the robot:
@zyaskawa I believe the issue is that you are not initializing the 2D pose estimate after starting your navigation demo which will start localization and activate Nav2 server. You can either use the 2D Pose Estimate tool in the Rviz window to initialize the robot pose or you can use the /reinitialize_global_localization service call which will initialize & localize the robot that will activate the Nav2 server. For example here is the cli command to call that service.
ros2 service call /reinitialize_global_localization std_srvs/srv/Empty
The reason why launching the web teleop fixes your issue is because it also calls the /reinitialize_global_localization service which is mentioned here in the launch file. Please let me know if this solves your issue.
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@Mohamed_Fazil Ah, thank you! You were correct, I believe the issue was that I misunderstood the documentation and assumed that I should see the lidar and TF lines before using the 2D Pose Estimate tool or service call ros2 service call /reinitialize_global_localization std_srvs/srv/Empty
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