Can I use Nav2 in ROS2 with Isaac Sim for navigation without loading a static map?
Is there a way to handle navigation dynamically, or what are the recommended methods for real-time exploration without relying on pre-defined maps?
Hi @arya7
Welcome to the Isaac ROS forum.
Yes, you can modify the demo as you wish. My suggestion is to create a new custom repository. If your first time working with ROS 2, follow the official documentation: Creating a package — ROS 2 Documentation: Humble documentation
You can start to modify the launcher by disabling or enabling features starting from, for example this launch file: isaac_ros_visual_slam/isaac_ros_visual_slam/launch/isaac_ros_visual_slam_isaac_sim.launch.py at main · NVIDIA-ISAAC-ROS/isaac_ros_visual_slam · GitHub
Best,
Raffaello
Thanks @Raffaello,
I was wondering if you would be able to help me troubleshoot an issue that I face with rviz where it states that the map frame does not exist.
I am able to normally see laser scans or tf’s but for some reason there is always an issue with global status.
EDIT: I just retried by launching the python file before clicking play on the isaac simulation and it worked, but the images maintained the no image.
I retried again afterwards and then the same map error occured.
Hi @arya7
Looks like the map is not published from Isaac ROS vslam, please check from the terminal if everything works.
You can also try switching from map to odom to see if the TF is published and identify the source of this issue.