If the navigation is launched with the chest camera enabled, the parameter loading overwrites the normal \robot_description with only the description for the chest camera. In oder for this to work, the urdf file would have to contain the whole robot description in addition to the chest camera.
If the navigation is launched with the chest camera enabled, the parameter loading overwrites the normal
\robot_descriptionwith only the description for the chest camera. In oder for this to work, the urdf file would have to contain the whole robot description in addition to the chest camera.