ERROR - isaac_ros_navigation_goal ROS2 package

[jaeyeun]

Whenever I try to launch the following launch file for the “ROS2 navigation - 6.6. Sending Goals Programmatically” tutorial (6. ROS2 Navigation — Omniverse Robotics documentation)
I get the following error:

launch command : ros2 launch isaac_ros_navigation_goal isaac_ros_navigation_goal.launch.py

why would this be happening???

[jaeyeun]

I figured out how to fix this error.
you need to make the following changes to the provided source code for the said tutorial.

to be more specific, you need to fix parameters for the “set_goal.py” python file.
(IsaacSim-ros_workspaces/set_goal.py at main · NVIDIA-Omniverse/IsaacSim-ros_workspaces · GitHub)

originally, the default values for the following three parameters “map_yaml_path”, “goal_text_file_path”, “initial_pose” are set as “None”.

you need to change those"None" default values to something else that suits your code.
for example:

class SetNavigationGoal(Node):
    def __init__(self):
        super().__init__("set_navigation_goal")

        self.declare_parameters(
            namespace="",
            parameters=[
                ("iteration_count", 1),
                ("goal_generator_type", "RandomGoalGenerator"),
                ("action_server_name", "navigate_to_pose"),
                ("obstacle_search_distance_in_meters", 0.2),
                ("frame_id", "map"),
                ("map_yaml_path", "~/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/assets/carter_warehouse_navigation.yaml"),
                ("goal_text_file_path", "~/IsaacSim-ros_workspaces/humble_ws/src/navigation/isaac_ros_navigation_goal/assets/goals.txt"),
                ("initial_pose", [-6.4, -1.04, 0.0, 0.0, 0.0, 0.99, 0.02]),
            ],
        )

thanks for the help