Enable Nav2 MPPI controller (#7)

MarqRazz · Nov 3, 2023 · a9ada4c · a9ada4c
1 parent 27d0624
commit a9ada4c
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Showing 4 changed files with 404 additions and 2 deletions.
diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py
@@ -190,8 +190,11 @@ def generate_launch_description():
             [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
         ),
         # TODO (marqrazz): fix the hardcoded path to the gazebo world
+        # -v is the verbose level
+        #  0: No output, 1: Error, 2: Error and warning, 3: Error, warning, and info, 4: Error, warning, info, and debug.
+        # -s launches Gazebo headless
         launch_arguments={
-            "gz_args": " -r -v 3 /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf"
+            "gz_args": " -r -v 3 -s /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf"
         }.items(),
         condition=IfCondition(sim_ignition),
     )

diff --git a/c300/c300_navigation/launch/navigation.launch.py b/c300/c300_navigation/launch/navigation.launch.py
@@ -81,7 +81,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         "params_file",
-        default_value=os.path.join(c300_nav_dir, "params", "nav2_params.yaml"),
+        default_value=os.path.join(c300_nav_dir, "params", "nav2_params_mppi.yaml"),
         description="Full path to the ROS2 parameters file to use for all launched nodes",
     )
 

diff --git a/c300/c300_navigation/params/nav2_params.yaml → ...00_navigation/params/nav2_params_dwb.yaml b/c300/c300_navigation/params/nav2_params.yaml → ...00_navigation/params/nav2_params_dwb.yaml