I. Map File Preparation

1. Create directories

mkdir -p ~/promis_nav2_maps/darmstadt_map
mkdir -p ~/promis_nav2_maps/config

2. Copy map files from Windows to WSL

Your source path:

C:\Users\rensh\Desktop\CE Semester 7\Simon Kohaut\code

In WSL:

cp "/mnt/c/Users/rensh/Desktop/CE Semester 7/Simon Kohaut/code/map.pgm" \
   ~/promis_nav2_maps/darmstadt_map/

cp "/mnt/c/Users/rensh/Desktop/CE Semester 7/Simon Kohaut/code/map.yaml" \
   ~/promis_nav2_maps/darmstadt_map/

3. Verify files

ls ~/promis_nav2_maps/darmstadt_map

Expected:

map.pgm  map.yaml

---

II. Create Map Server Parameter File

1. Edit file

nano ~/promis_nav2_maps/config/map_server_params.yaml

Content:

map_server:
  ros__parameters:
    yaml_filename: /home/xiaoyuweng/promis_nav2_maps/darmstadt_map/map.yaml

lifecycle_manager:
  ros__parameters:
    use_sim_time: false
    autostart: true
    node_names: ['map_server']

Save and exit.

2. Verify

cat ~/promis_nav2_maps/config/map_server_params.yaml

---

III. Start Map Display Pipeline

Terminal 1: map_server

source /opt/ros/humble/setup.bash

ros2 run nav2_map_server map_server \
--ros-args \
--params-file ~/promis_nav2_maps/config/map_server_params.yaml

Terminal 2: lifecycle_manager

source /opt/ros/humble/setup.bash

ros2 run nav2_lifecycle_manager lifecycle_manager \
--ros-args \
--params-file ~/promis_nav2_maps/config/map_server_params.yaml

Terminal 3: check topics

source /opt/ros/humble/setup.bash
ros2 topic list

Expected:

/map
/map_server/transition_event

Terminal 3: check map data

source /opt/ros/humble/setup.bash
ros2 topic echo /map --once

Expected fields:

• resolution: 1.0
• width: 200
• height: 200
• origin.x: -100
• origin.y: -100

---

IV. Open RViz and Display Map

Terminal 4

source /opt/ros/humble/setup.bash
rviz2

RViz actions (not commands)

1. Set Fixed Frame to map

2. Click Add

3. Choose By topic

4. Select /map

5. Set QoS:

   • Reliability = Reliable
   • Durability = Transient Local

Optional:

• Change view to TopDownOrtho

---

V. Add Minimal TF Tree

Terminal 5: map → odom

source /opt/ros/humble/setup.bash

ros2 run tf2_ros static_transform_publisher \
--x 0 --y 0 --z 0 \
--roll 0 --pitch 0 --yaw 0 \
--frame-id map \
--child-frame-id odom

Terminal 6: odom → base_link

source /opt/ros/humble/setup.bash

ros2 run tf2_ros static_transform_publisher \
--x 0 --y 0 --z 0 \
--roll 0 --pitch 0 --yaw 0 \
--frame-id odom \
--child-frame-id base_link

Keep both terminals running.

---

VI. Create Navigation Parameter File

1. Create file

nano ~/promis_nav2_maps/config/nav2_navigation_only.yaml

Paste the full YAML content (same as before).

---

VII. Launch Nav2 Navigation

Do NOT stop:

• map_server
• lifecycle_manager
• static TF

New terminal

source /opt/ros/humble/setup.bash

ros2 launch nav2_bringup navigation_launch.py \
use_sim_time:=false \
params_file:=/home/xiaoyuweng/promis_nav2_maps/config/nav2_navigation_only.yaml

---

VIII. Verify Nav2

Nodes

ros2 node list

Expect:

• /planner_server
• /controller_server
• /bt_navigator
• /behavior_server

Costmap topics

ros2 topic list | grep costmap

Plan topics

ros2 topic list | grep plan

Actions

ros2 action list

---

IX. RViz Setup for Navigation

Add:

• Map → /map
• Map → /global_costmap/costmap
• Map → /local_costmap/costmap
• TF
• Path → /plan

Optional:

• Path → /plan_smoothed

---

X. Send Navigation Goal

Navigate

ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
"{pose: {header: {frame_id: map}, pose: {position: {x: 10.0, y: 10.0, z: 0.0}, orientation: {w: 1.0}}}}"

Check path

ros2 topic echo /plan --once

---

XI. Pure Planning (Recommended)

ros2 action send_goal /compute_path_to_pose nav2_msgs/action/ComputePathToPose \
"{goal: {header: {frame_id: map}, pose: {position: {x: 10.0, y: 10.0, z: 0.0}, orientation: {w: 1.0}}}, start: {header: {frame_id: map}, pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}, use_start: true}"

---

XII. Controller Abort Explanation

Logs:

[follow_path] [ActionServer] Aborting handle.

Meaning:

• Planning succeeded
• Execution failed due to no odometry

---

XIII. Stop Commands

Ctrl + C

Stop all running terminals if needed.

---

XIV. Minimal Re-run Sequence

A. Map

ros2 run nav2_map_server map_server --ros-args --params-file ~/promis_nav2_maps/config/map_server_params.yaml

ros2 run nav2_lifecycle_manager lifecycle_manager --ros-args --params-file ~/promis_nav2_maps/config/map_server_params.yaml

B. TF

ros2 run tf2_ros static_transform_publisher --frame-id map --child-frame-id odom ...

ros2 run tf2_ros static_transform_publisher --frame-id odom --child-frame-id base_link ...

C. Nav2

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=false params_file:=...

D. RViz

rviz2

E. Goal

ros2 action send_goal /navigate_to_pose ...

F. Plan

ros2 topic echo /plan --once

---