Quick Launch

Detailed here is the minimum setup required for your workspace to visualise and begin using your maps. It assumes you have already got ROS2 Humble working on your device.

mkdir -p ~/ros2_ws/src
cd  ~/ros2_ws/src
git clone https://github.com/LCAS/environment_common
git clone https://github.com/LCAS/topological_navigation
 
cd  ~/ros2_ws/
colcon build
source ~/ros2_ws/install/setup.bash
 
export TMAP_FILE='enter/file/path.tmap2.yaml'
ros2 launch environment_common enviornment.launch.py

If you are using an environment template source:

mkdir -p ~/ros2_ws/src
cd  ~/ros2_ws/src
git clone https://github.com/LCAS/environment_common
git clone https://github.com/LCAS/topological_navigation
git clone https://github.com/LCAS/environment_template --single-branch -b BRANCH_NAME

cd  ~/ros2_ws/
colcon build
source ~/ros2_ws/install/setup.bash
source ~/ros2_ws/src/environment_template/config/environment.sh

ros2 launch environment_common enviornment.launch.py