[#4] Fix Invalid setup of Nav2 #5
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Pull request overview
This PR fixes critical Nav2 configuration issues for ROS 2 Jazzy compatibility and improves the demo setup by updating plugin naming conventions, adding required parameters, and reorganizing the gateway into a namespace for better demonstration of hierarchical discovery.
Key Changes:
- Updated Nav2 plugin names from
/to::separator (Jazzy requirement) and addedenable_stamped_cmd_velparameter to velocity-publishing servers - Optimized ros2_medkit installation with shallow clone and selective package extraction
- Moved gateway to
/diagnosticsnamespace to better demonstrate Area-based organization
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| send-nav-goal.sh | New helper script to send navigation goals to TurtleBot3 via docker exec |
| launch/demo.launch.py | Updated formatting, added namespace for gateway node, improved documentation comments |
| config/nav2_params.yaml | Fixed plugin names (/ → ::), added enable_stamped_cmd_vel, configured lifecycle manager |
| config/medkit_params.yaml | Restructured for /diagnostics namespace, improved YAML formatting |
| Dockerfile | Optimized to shallow clone ros2_medkit and extract only gateway package |
| docker-compose.yml | Removed obsolete TODO comment |
| README.md | Enhanced documentation explaining Area-based organization and namespace mapping |
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- Fix Nav2 plugin names (/ -> ::) and add enable_stamped_cmd_vel - Shallow clone ros2_medkit from GitHub, local COPY for demo - Move gateway to /diagnostics namespace for Area demo - Add send-nav-goal.sh helper and update README
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mfaferek93
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Dec 7, 2025
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Description
Related Issue
closes #4
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