hilary-luo
commented
11 months ago @HyydenJakcz when you are filling out the issue template please always provide the exact commands that you are running and the exact output from the terminal. I do not have enough information to tell you exactly what you are doing wrong but my best guess is that you are not following the instructions for a custom world. See the instructions available here: https://turtlebot.github.io/turtlebot4-user-manual/tutorials/navigation.html?highlight=custom%20world#launching-navigation
If you are using a custom world you will need to build the turtlebot4_simulator package from source and place your world file alongside the others. You will then need to create a map for it and pass both the world name and the map file path in as launch arguments.
For example:
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py nav2:=true slam:=false localization:=true rviz:=true world:=classroom map:=path/to/classroom.yaml
This is how to launch navigation, it is similar if you are trying to run SLAM but you don't need to pass a map since you are generating the map.
HyydenJakcz
ncnynl
Please provide the following information:
Package version: c27f15d4e0c612efb799ac81e398137c5f9b154c
Expected behaviour A map of the surrounding using lidar data
Actual behaviour rviz is empty except for the turtlebot model
To Reproduce Provide the steps to reproduce:
Other notes if I copy the contents of other world files into the warehouse world and change the world name, it is able to visualize the lidar rays in rviz.