marcusvinicius178

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess, OpaqueFunction
from launch_ros.actions import Node

def generate_launch_description():
    # Define paths
    bringup_dir = get_package_share_directory('nav2_bringup')
    world_file = os.path.join(bringup_dir, 'worlds', 'empty_ground.world')

marcusvinicius178

# For parameter descriptions, please refer to the template parameter files for each node.

ekf_filter_node_odom:
  ros__parameters:
    frequency: 30.0
    two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
    print_diagnostics: true
    debug: false
    publish_tf: true