clearpath_nav2_demos

Nav2 and slam_toolbox demos for clearpath platforms

Example Nav2 and slam_toolbox configurations and launch files showing how to run mapping, localization, and autonomous navigation on Clearpath platforms.

For supported platforms, sensors, and manipulators plus additional details, please see: https://docs.clearpathrobotics.com/docs/ros/

Where this fits in the Clearpath ROS 2 stack

This is a downstream demo package. It assumes a robot is already running — either real hardware (clearpath_robot) or simulation (clearpath_simulator) — publishing the standard sensor topics and TF tree. It layers a navigation stack on top of that running robot.

flowchart LR
    robot["running robot<br/>(clearpath_robot / clearpath_simulator)"] --> nav["clearpath_nav2_demos<br/>(this repo)"]
    nav --> slam["slam.launch.py<br/>(build a map)"]
    nav --> loc["localization.launch.py<br/>(localize in a saved map)"]
    nav --> nav2["nav2.launch.py<br/>(autonomous navigation)"]

Layout

Usage

Start a robot or simulation first, then launch the desired demo. Parameters are selected per platform via the config/<platform> directories. For example, to build a map:

ros2 launch clearpath_nav2_demos slam.launch.py

Then, to navigate within a saved map:

ros2 launch clearpath_nav2_demos localization.launch.py
ros2 launch clearpath_nav2_demos nav2.launch.py

slam.launch.py also takes a mode argument:

ros2 launch clearpath_nav2_demos slam.launch.py mode:=localization map:=/path/to/map.yaml
ros2 launch clearpath_nav2_demos slam.launch.py mode:=resume posegraph:=/path/to/posegraph start_pose:=1.0,2.0,0.0

While SLAM is running, the map_saver node can save the map through the map_saver/save_map service, and slam_toolbox can serialize a posegraph through its serialize_map service.

See the Clearpath navigation demos documentation for the full, platform-specific walkthrough.

Build

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Notes

• The demos do not start a robot; launch clearpath_robot or clearpath_simulator first.
• Pick the config that matches your platform. Mismatched footprints/sensor frames are a common cause of poor navigation behavior.

Changelog for package clearpath_nav2_demos

2.9.0 (2026-10-29)

• Nav2 updates (#55)

  • Updated Nav2 behavior and platform configs.
  • Added SLAM localization and posegraph modes.
  • Added office map and update warehouse map.
  • Fixed pre-commit.
  • Updated README for SLAM modes and office map.

• Bump https://github.com/PyCQA/flake8 from 7.3.0 to 7.4.1 Bumps [https://github.com/PyCQA/flake8](https://github.com/PyCQA/flake8) from 7.3.0 to 7.4.1.

  - [Commits](https://github.com/PyCQA/flake8/compare/7.3.0...7.4.1) ---updated-dependencies:

  - dependency-name: https://github.com/PyCQA/flake8 dependency-version: 7.4.1 dependency-type: direct:production update-type: version-update:semver-minor ...

• Bump https://github.com/igorshubovych/markdownlint-cli from v0.44.0 to 0.49.1 (#48)

  * Bump https://github.com/igorshubovych/markdownlint-cli Bumps [https://github.com/igorshubovych/markdownlint-cli](https://github.com/igorshubovych/markdownlint-cli) from v0.44.0 to 0.49.1.

  • [Release notes](https://github.com/igorshubovych/markdownlint-cli/releases)

  - [Commits](https://github.com/igorshubovych/markdownlint-cli/compare/v0.44.0...v0.49.1) ---updated-dependencies:

  - dependency-name: https://github.com/igorshubovych/markdownlint-cli dependency-version: 0.49.1 dependency-type: direct:production ...

  * Fixed linting for this PR. ---------Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>>

• Bump https://github.com/pre-commit/pre-commit-hooks from v5.0.0 to 6.0.0 Bumps [https://github.com/pre-commit/pre-commit-hooks](https://github.com/pre-commit/pre-commit-hooks) from v5.0.0 to 6.0.0.

  • [Release notes](https://github.com/pre-commit/pre-commit-hooks/releases)
  • [Changelog](https://github.com/pre-commit/pre-commit-hooks/blob/main/CHANGELOG.md)

  - [Commits](https://github.com/pre-commit/pre-commit-hooks/compare/v5.0.0...v6.0.0) ---updated-dependencies:

  - dependency-name: https://github.com/pre-commit/pre-commit-hooks dependency-version: 6.0.0 dependency-type: direct:production ...

• Bump actions/github-script from 7 to 9 Bumps [actions/github-script](https://github.com/actions/github-script) from 7 to 9.

  • [Release notes](https://github.com/actions/github-script/releases)

  - [Commits](https://github.com/actions/github-script/compare/v7...v9) ---updated-dependencies:

  - dependency-name: actions/github-script dependency-version: '9' dependency-type: direct:production update-type: version-update:semver-major ...

• Bump https://github.com/PyCQA/flake8 from 7.1.2 to 7.3.0 Bumps [https://github.com/PyCQA/flake8](https://github.com/PyCQA/flake8) from 7.1.2 to 7.3.0.

  - [Commits](https://github.com/PyCQA/flake8/compare/7.1.2...7.3.0) ---updated-dependencies:

  - dependency-name: https://github.com/PyCQA/flake8 dependency-version: 7.3.0 dependency-type: direct:production update-type: version-update:semver-minor ...

• Added Github PR templates, precommit and contributing notes. Also, u… (#44)

  • Added Github PR templates, precommit and contributing notes. Also, updated CI, updated issue templates and README.
  • Added dependabot.

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