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

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

2.8.1 (2026-07-16)

• Tuned slam_toolbox defaults: increase throttling, map update interval, and minimum travel thresholds. (#42)
• Fixed global costmap rolling window and collision monitor tuning. (#40)
• Remaped /tf and /tf_static into robot namespace in nav2.launch.py. (#38)
• Changed to rostooling/setup-ros-docker:ubuntu-noble-latest for CI image. (#36)
• Added mergify and auto-label. (#34)
• Contributors: Tony Baltovski

2.8.0 (2025-12-12)

• Add [scan_topic]{.title-ref} launch argument (#32)
• Contributors: Chris Iverach-Brereton

2.7.1 (2025-09-10)

• Fix SLAM parameter rewrites for Jazzy (#31)
  • Set the scan_topic parameter to the fully qualified topic, set the map_name parameter
  • Add a note about the scan_topic and map_name parameters getting rewritten by the launch file
• Contributors: Chris Iverach-Brereton

2.7.0 (2025-08-25)

• Accept setup path with or without a trailing slash (#30)
• Contributors: Hilary Luo

2.5.0 (2025-05-30)

• Fix typos in issue templates (#27)
• Add parameter files for Dingo (all variants), Ridgeback (#25)
  • Add parameter files for Dingo (all variants), Ridgeback
  • Add trailing newlines to config files, add missing remap to launch file
• Fix the slam launch file to use the new lifecycle node (#24)
• Contributors: Chris Iverach-Brereton, Hilary Luo

2.4.0 (2025-04-30)

• Update nav2 configuration files for Jazzy (#21)
• use_sim_time should not be in the yaml in Jazzy (#19)
• Contributors: Chris Iverach-Brereton, Hilary Luo

2.0.0 (2025-01-31)

• Enable stamped cmd_vel messages for Nav2
• Add Nav2 config files for A300. Not yet tested on the physical robot (#18)
• Remove repos file from CI; it doesn't exist in this repo
• Add source CI
• Update CI for Jazzy
• Fix import ordering, allow shadowing of builtin
• Contributors: Chris Iverach-Brereton

0.2.0 (2024-01-22)

• Increased inflation radius
• Added W200 configs
• Contributors: Roni Kreinin

0.1.0 (2023-09-15)

• Updated get model function and remapped scan topics
  • Update get model function to match clearpath config
  • Remap to correct namespacing on scan topics
• Contributors: Hilary Luo

0.0.2 (2023-07-27)

• Updated sensor namespace
• Linter fix
• Contributors: Roni Kreinin

0.0.1 (2023-07-17)

• Added space to package.xml.
• Updated package.xml order.
• Added test dependencies.
• Added Github actions.
• Config updates
• Namespacing fixes
• Updated odom topics

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