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Configure Nav2 stack on Orin (nav2_params.yaml + launch integration) #475

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opened 2026-03-05 14:24:56 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 14:24:56 -05:00
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Summary

Configure the Nav2 navigation stack on the Orin (saltylab-orin, 192.168.86.168).

Requirements

  1. Create nav2_params.yaml in ~/saltylab_ws/src/saltylab_bringup/config/
    • Configure for RPLIDAR (/scan) + depth_to_laserscan (/depth_scan)
    • Conservative indoor speeds (current drivetrain: FC + hoverboard ESC, VESC arriving ~2 weeks)
    • Use DWB local planner, NavFn global planner
    • Robot footprint ~0.4m x 0.4m (adjust as needed)
  2. Update saltylab.launch.py to include Nav2 bringup after SLAM Toolbox
    • Nav2 should launch after SLAM is up
    • Pass nav2_params.yaml config
  3. Motor node already handles /cmd_vel — no changes needed there
  4. Must build and launch cleanly: colcon build && ros2 launch saltylab_bringup saltylab.launch.py

Current Setup

  • ROS2 Humble on Jetson Orin Nano Super
  • SLAM Toolbox already configured and running
  • EKF (robot_localization) running
  • RPLIDAR A1M8 + RealSense D435i in launch file
  • OpenCV CUDA just built successfully
  • Drivetrain: FC + hoverboard ESC (VESC arriving ~2 weeks)

Priority

P1 — needed for autonomous navigation testing

## Summary Configure the Nav2 navigation stack on the Orin (saltylab-orin, 192.168.86.168). ## Requirements 1. Create `nav2_params.yaml` in `~/saltylab_ws/src/saltylab_bringup/config/` - Configure for RPLIDAR (`/scan`) + depth_to_laserscan (`/depth_scan`) - Conservative indoor speeds (current drivetrain: FC + hoverboard ESC, VESC arriving ~2 weeks) - Use DWB local planner, NavFn global planner - Robot footprint ~0.4m x 0.4m (adjust as needed) 2. Update `saltylab.launch.py` to include Nav2 bringup after SLAM Toolbox - Nav2 should launch after SLAM is up - Pass nav2_params.yaml config 3. Motor node already handles `/cmd_vel` — no changes needed there 4. Must build and launch cleanly: `colcon build && ros2 launch saltylab_bringup saltylab.launch.py` ## Current Setup - ROS2 Humble on Jetson Orin Nano Super - SLAM Toolbox already configured and running - EKF (robot_localization) running - RPLIDAR A1M8 + RealSense D435i in launch file - OpenCV CUDA just built successfully - Drivetrain: FC + hoverboard ESC (VESC arriving ~2 weeks) ## Priority P1 — needed for autonomous navigation testing
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#475
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