Isaac Sim (Map‐Setup)

Loading the Map

Terminal-1

cd ~/github/Internship/issac_sim_map

ros2 run nav2_map_server map_server \
  --ros-args \
  -p yaml_filename:=movement_working.yaml \
  -p use_sim_time:=true

Terminal-2

ros2 lifecycle set /map_server configure
ros2 lifecycle set /map_server activate

Robot Position

Terminal-3

ros2 run nav2_amcl amcl \
  --ros-args \
  -p use_sim_time:=true \
  -p base_frame_id:=base_link \
  -p odom_frame_id:=odom \
  -p global_frame_id:=map \
  -p scan_topic:=/scan

Terminal-4

ros2 lifecycle set /amcl configure
ros2 lifecycle set /amcl activate