final final

navigation/path_planning/config/nav2_params_real.yaml

@@ -108,7 +108,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 0.8
-        inflation_radius:  0.3
+        inflation_radius: 0.3
 
       always_send_full_costmap: True
   local_costmap_client:
@@ -140,7 +140,7 @@ bt_navigator:
     use_sim_time: False
     global_frame: map
     robot_base_frame: base_link
-    odom_topic: /odom_with_offset
+    odom_topic: /lio_sam/mapping/odometry
     bt_loop_duration: 10
     default_server_timeout: 20
     enable_groot_monitoring: True
@@ -233,7 +233,7 @@ controller_server:
     ## Server parameters
     use_sim_time: False
     controller_frequency: 1.0
-    odom_topic: "odom_with_offset"
+    odom_topic: "lio_sam/mapping/odometry"
     # Min velocities to ignore
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5

navigation/path_planning/config/offset.yaml

@@ -1,10 +1,10 @@
 position_offset:
-  - 17.228  # was 11 
-  - -11.549 # was 17
+  - 0.0  # was 11 
+  - 0.0 # was 17
   - 0.0  
 
 orientation_offset:
   - 0.0  
   - 0.0  
-  - 0.7071
-  - 0.7071
+  - 0.0
+  - 0.0

navigation/path_planning/launch/nav2_real.launch.py

@@ -59,6 +59,9 @@ def launch_setup(context: launch.LaunchContext, *args, **kwargs):
             {"use_sim_time": False},
         ],
     )
+
+
+
 
     global_robot_localization_node = launch_ros.actions.Node(
         package="robot_localization",
@@ -81,11 +84,13 @@ def launch_setup(context: launch.LaunchContext, *args, **kwargs):
     return [
         # Commands
         start_nav2_cmd,
-        start_wheels_control_cmd,
+        # start_wheels_control_cmd,
         # Nodes
         # local_robot_localization_node,
         # global_robot_localization_node,
         # odom_offset_node
+        map,
+
     ]