Miss the map in tugbot_nav2

[fxt-7]

Hi porizou, thanks for your great work, but when I want to build the project, the error "miss map in nav2" happened, could you please help to fix it?

[porizou]

Hello @fxt-7, thank you for bringing this issue
The "miss map in nav2" error usually occurs when the map file is either not specified correctly or missing in the Nav2 configuration.

The path to the map file is specified in the following launch file.

tugbot_navigation2/launch/navigation2.launch.py

    map_dir = LaunchConfiguration(
        'map',
        default=os.path.join(
            get_package_share_directory('tugbot_navigation2'),
            'map',
            'map.yaml'))

Create a map directory under tugbot_navigation2 and place the .pgm and .yaml files of the map created with slam-toolbox in the map directory. Then, if you build again, I believe nav2 should be able to read the map.

colcon build --symlink-install --packages-select tugbot_navigation2

[fxt-7]

Hi @porizou

Thanks for your quick response, I can run the tugbot_gazebo and tugbot_slam packages successfully, but tugbot_nav2 still goes wrong.
I have moved the map.pgm and map.yaml which saved by slam_toolbox into the /tugbot_nav2/map directory, but when I launch the tugbot_nav2, the navigation status is always inactive, and also can't set the nav2 goal or pose estimate, any idea about it ?