Closed fmrico closed 4 years ago
Hi @fmrico! LGTM for now, I think that this README must contain how to launch the Pilot or how to use the .repos file. It's very helpful that you had added a chart. Thank you!
Launch gazebo sim and nav2 system (gazebo headless mode ON) -- ros2 launch nav2_bringup nav2_tb3_system_modes_sim_launch.py
Run ros2 run system_modes mode-manager [path]/nav2_modes.yaml
(nav2_modes example in nav2_bt_modes_navigator/system_modes/nav2_modes.yaml) to able the change of nav2 modes.
Finally call the service to change the mode -- ros2 service call [/node]/change_mode system_modes/ChangeMode "{node_name: 'node_name', mode_name: 'MODE_NAME'}"
-- (example ros2 service call /bt_navigator/change_mode system_modes/ChangeMode "{node_name: 'navigation2', mode_name: 'BATTERY_CONTINGENCY'}"
)
Hi @jginesclavero
Check out how I integrated your instructions. As soon as you review it and it is ok, merge it so anyone could add the remaining instructions (for real robots, for example)
Hi @lbajo @jginesclavero
I have added some documentation, as requested @chcorbato in #4 .
Please, review this PR if I should modify anything. You should also make changes to be consistent with this. For example, @lbajo, maybe you should adjust the content of pilot_modes.yaml.
Best
Signed-off-by: Francisco Martin Rico fmartin@gsyc.urjc.es