The snap provides mapping, localization and navigation capabilities.
The ros2-nav2 snap is designed as a general package that offers navigation functionality for robots. To ensure maximum flexibility for users, it is intentionally provided without any preset configurations.
The ros2-nav2 snap must be configured by means of snap parameters. The available configuration parameters are listed below:
- simulation (string, default: "False")
- slam-config (string, default: "")
- map-saver-config (string, default: "")
- map-yaml-path (string, default: "")
- map (string, default="${SNAP_COMMON}/maps/current_map.yaml")
- localization-config (string, default: "")
- navigation-config (string, default: "")
The slam-config, localization-config, and navigation-config parameters are essentials for the proper functioning of these applications.
These parameters must be set either to a local configuration file accessible within the SNAP environment (such as $SNAP_COMMON), or to a URL hosting the desired configuration.
Additionally, a set of configuration_templates is available at $SNAP_COMMON/configuration_templates. Those files are only meant to be a template, they can be modified and used by setting them to the parameters. An example of using a template for slam-config is as follows:
snap set ros2-nav2 slam-config="/var/snap/ros2-nav2/common/configuration_templates/slam_params_template.yaml"
In case you want to reinitialize the templates, you can simply issue the following command: ros2-nav2.reset-config-templates
As mentioned, those parameters can also be can also be configured with a URL as follows:
snap set ros2-nav2 <app-name>-config="https://raw.githubusercontent.com/robot-repo/<app-name>_params.yaml"
Note: the URL must be reachable by the snap. When using a URL, the configuration file will be downloaded everytime the app is launched. Therefore a configuration update upstream will be applied with the application relaunch.
The mapping application can be launched as,
snap start ros2-nav2.slam
After launching the app, simply drive the robot around until you've mapped the area. Once finished, stop the mapping with,
snap stop ros2-nav2.slam
This will terminate the mapping and automatically save the map in '${SNAP_COMMON}/maps/new_map.{yaml,png}'.
If mapping is not required, a map can also be loaded via the map-yaml-path parameter.
The parameter can either be set to a local file with:
snap set ros2-nav2 map-yaml-path="$SNAP_COMMON/maps/map.yaml"
Or by means of a URL with:
snap set ros2-nav2 map-yaml-path="https://raw.githubusercontent.com/robot-repo/map.yaml"
The image associated to the map is automatically extracted from the yaml file.
With the environment mapped, one can make use of the autonomous navigation. To do so, start the localisation and navigation with:
snap start ros2-nav2.localization
snap start ros2-nav2.navigation
Those application can be then stopped with:
snap stop ros2-nav2.localization
snap stop ros2-nav2.navigation
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap is available for Red Hat Enterprise Linux (RHEL) 8 and RHEL 7, from the 7.6 release onward.
The packages for RHEL 7, RHEL 8, and RHEL 9 are in each distribution’s respective Extra Packages for Enterprise Linux (EPEL) repository. The instructions for adding this repository diverge slightly between RHEL 7, RHEL 8 and RHEL 9, which is why they’re listed separately below.
The EPEL repository can be added to RHEL 9 with the following command:
sudo dnf install https://dl.fedoraproject.org/pub/epel/epel-release-latest-9.noarch.rpm
sudo dnf upgrade
The EPEL repository can be added to RHEL 8 with the following command:
sudo dnf install https://dl.fedoraproject.org/pub/epel/epel-release-latest-8.noarch.rpm
sudo dnf upgrade
The EPEL repository can be added to RHEL 7 with the following command:
sudo rpm -ivh https://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
Adding the optional and extras repositories is also recommended:
sudo subscription-manager repos --enable "rhel-*-optional-rpms" --enable "rhel-*-extras-rpms"
sudo yum update
Snap can now be installed as follows:
sudo yum install snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again or restart your system to ensure snap’s paths are updated correctly.
To install ros2-nav2, simply use the following command:
sudo snap install ros2-nav2 --edge
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.
