agenticros 0.5.1 → 0.5.3

package/runtime/ros2_ws/src/agenticros_sim/config/nav2_params.yaml

@@ -0,0 +1,320 @@
+# Nav2 parameters for agenticros_amr in Gazebo (agenticros_indoor world).
+# Tuned for a ~0.40 x 0.30 m diff-drive footprint, /scan lidar, /cmd_vel,
+# and use_sim_time. Used by launch/sim_amr_nav2.launch.py.
+
+amcl:
+  ros__parameters:
+    use_sim_time: true
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: base_footprint
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: map
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 12.0
+    laser_min_range: 0.12
+    laser_model_type: likelihood_field
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: odom
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: nav2_amcl::DifferentialMotionModel
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+    set_initial_pose: true
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: true
+    global_frame: map
+    robot_base_frame: base_footprint
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: true
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: true
+
+controller_server:
+  ros__parameters:
+    use_sim_time: true
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: progress_checker
+    goal_checker_plugins: [general_goal_checker]
+    controller_plugins: [FollowPath]
+    progress_checker:
+      plugin: nav2_controller::SimpleProgressChecker
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    general_goal_checker:
+      stateful: true
+      plugin: nav2_controller::SimpleGoalChecker
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    FollowPath:
+      plugin: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
+      desired_linear_vel: 0.35
+      lookahead_dist: 0.6
+      min_lookahead_dist: 0.3
+      max_lookahead_dist: 0.9
+      lookahead_time: 1.5
+      rotate_to_heading_angular_vel: 1.0
+      transform_tolerance: 0.1
+      use_velocity_scaled_lookahead_dist: false
+      min_approach_linear_velocity: 0.05
+      approach_velocity_scaling_dist: 0.6
+      use_collision_detection: true
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+      use_regulated_linear_velocity_scaling: true
+      use_cost_regulated_linear_velocity_scaling: false
+      regulated_linear_scaling_min_radius: 0.9
+      regulated_linear_scaling_min_speed: 0.1
+      allow_reversing: false
+      use_rotate_to_heading: true
+      rotate_to_heading_min_angular_vel: 0.3
+      max_angular_accel: 2.0
+      max_robot_pose_search_dist: 10.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: true
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_footprint
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.28
+      plugins: [voxel_layer, inflation_layer]
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: nav2_costmap_2d::VoxelLayer
+        enabled: true
+        publish_voxel_map: false
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      always_send_full_costmap: true
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: true
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_footprint
+      robot_radius: 0.28
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: [static_layer, obstacle_layer, inflation_layer]
+      obstacle_layer:
+        plugin: nav2_costmap_2d::ObstacleLayer
+        enabled: true
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: nav2_costmap_2d::StaticLayer
+        map_subscribe_transient_local: true
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: true
+
+map_server:
+  ros__parameters:
+    use_sim_time: true
+    yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    use_sim_time: true
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: true
+
+planner_server:
+  ros__parameters:
+    use_sim_time: true
+    expected_planner_frequency: 20.0
+    planner_plugins: [GridBased]
+    GridBased:
+      plugin: nav2_navfn_planner/NavfnPlanner
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: true
+    smoother_plugins: [simple_smoother]
+    simple_smoother:
+      plugin: nav2_smoother::SimpleSmoother
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: true
+
+behavior_server:
+  ros__parameters:
+    use_sim_time: true
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: [spin, backup, drive_on_heading, assisted_teleop, wait]
+    spin:
+      plugin: nav2_behaviors/Spin
+    backup:
+      plugin: nav2_behaviors/BackUp
+    drive_on_heading:
+      plugin: nav2_behaviors/DriveOnHeading
+    wait:
+      plugin: nav2_behaviors/Wait
+    assisted_teleop:
+      plugin: nav2_behaviors/AssistedTeleop
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.1
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: true
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: wait_at_waypoint
+    wait_at_waypoint:
+      plugin: nav2_waypoint_follower::WaitAtWaypoint
+      enabled: true
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: true
+    smoothing_frequency: 20.0
+    scale_velocities: false
+    feedback: OPEN_LOOP
+    max_velocity: [0.5, 0.0, 1.5]
+    min_velocity: [-0.5, 0.0, -1.5]
+    max_accel: [1.0, 0.0, 2.0]
+    max_decel: [-1.0, 0.0, -2.0]
+    odom_topic: odom
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0

package/runtime/ros2_ws/src/agenticros_sim/launch/sim_amr_nav2.launch.py

@@ -0,0 +1,101 @@
+"""sim_amr_nav2.launch.py
+
+Bring up Gazebo AMR sim + Nav2 (static map + AMCL + navigation stack).
+
+Includes:
+  * agenticros_sim/sim_amr.launch.py  (gz + bridge + robot_state_publisher)
+  * nav2_bringup/bringup_launch.py    (map_server + amcl + controller/planner/bt)
+
+Launch args (forwarded to sim_amr where applicable):
+  gui, use_rviz, use_sim_time, x, y, z, yaw
+  map          — occupancy grid YAML (default: maps/agenticros_indoor.yaml)
+  params_file  — Nav2 params (default: config/nav2_params.yaml)
+  autostart    — lifecycle autostart (default true)
+
+Examples:
+  ros2 launch agenticros_sim sim_amr_nav2.launch.py gui:=false
+  ros2 launch agenticros_sim sim_amr_nav2.launch.py use_rviz:=true
+"""
+
+from __future__ import annotations
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+PKG_NAME = "agenticros_sim"
+
+
+def generate_launch_description() -> LaunchDescription:
+    pkg_share = get_package_share_directory(PKG_NAME)
+    default_map = os.path.join(pkg_share, "maps", "agenticros_indoor.yaml")
+    default_params = os.path.join(pkg_share, "config", "nav2_params.yaml")
+    sim_amr_launch = os.path.join(pkg_share, "launch", "sim_amr.launch.py")
+    nav2_bringup = get_package_share_directory("nav2_bringup")
+    bringup_launch = os.path.join(nav2_bringup, "launch", "bringup_launch.py")
+
+    gui_arg = DeclareLaunchArgument("gui", default_value="true")
+    use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="false")
+    use_sim_time_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
+    x_arg = DeclareLaunchArgument("x", default_value="0.0")
+    y_arg = DeclareLaunchArgument("y", default_value="0.0")
+    z_arg = DeclareLaunchArgument("z", default_value="0.1")
+    yaw_arg = DeclareLaunchArgument("yaw", default_value="0.0")
+    map_arg = DeclareLaunchArgument("map", default_value=default_map)
+    params_arg = DeclareLaunchArgument("params_file", default_value=default_params)
+    autostart_arg = DeclareLaunchArgument("autostart", default_value="true")
+
+    sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(sim_amr_launch),
+        launch_arguments={
+            "gui": LaunchConfiguration("gui"),
+            "use_rviz": LaunchConfiguration("use_rviz"),
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+            "x": LaunchConfiguration("x"),
+            "y": LaunchConfiguration("y"),
+            "z": LaunchConfiguration("z"),
+            "yaw": LaunchConfiguration("yaw"),
+        }.items(),
+    )
+
+    # slam:=False → localization_launch (map_server + amcl) + navigation_launch
+    nav2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(bringup_launch),
+        launch_arguments={
+            "slam": "False",
+            "map": LaunchConfiguration("map"),
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+            "params_file": LaunchConfiguration("params_file"),
+            "autostart": LaunchConfiguration("autostart"),
+            "use_composition": "False",
+            "use_respawn": "False",
+        }.items(),
+    )
+
+    # Remap Nav2's default cmd_vel if velocity_smoother is in the graph —
+    # our bridge listens on /cmd_vel. bringup already uses /cmd_vel by default
+    # for the controller; keep a no-op note via a tiny static transform wait
+    # is unnecessary. Publish map→odom is AMCL's job once initial pose is set
+    # (set_initial_pose: true in nav2_params.yaml).
+
+    return LaunchDescription(
+        [
+            gui_arg,
+            use_rviz_arg,
+            use_sim_time_arg,
+            x_arg,
+            y_arg,
+            z_arg,
+            yaw_arg,
+            map_arg,
+            params_arg,
+            autostart_arg,
+            sim,
+            nav2,
+        ]
+    )

package/runtime/ros2_ws/src/agenticros_sim/maps/agenticros_indoor.yaml

@@ -0,0 +1,7 @@
+image: agenticros_indoor.pgm
+mode: trinary
+resolution: 0.05
+origin: [-6.0, -6.0, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_amr/model.sdf

@@ -221,11 +221,28 @@
       <odom_topic>odometry</odom_topic>
       <tf_topic>tf</tf_topic>
       <frame_id>odom</frame_id>
-      <child_frame_id>base_link</child_frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
       <max_linear_acceleration>1.0</max_linear_acceleration>
       <max_angular_acceleration>2.0</max_angular_acceleration>
     </plugin>
 
+    <!--
+      Odometry with covariance for ros_gz_bridge on Humble/Jazzy.
+      DiffDrive publishes bare gz.msgs.Odometry on /odometry; some Humble
+      bridge builds only convert OdometryWithCovariance reliably to
+      nav_msgs/Odometry. TF stays on DiffDrive (tf_topic below is unused).
+    -->
+    <plugin
+      filename="gz-sim-odometry-publisher-system"
+      name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>odom</odom_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+      <odom_topic>odometry</odom_topic>
+      <odom_covariance_topic>odometry_with_covariance</odom_covariance_topic>
+      <tf_topic>odometry_publisher_tf_unused</tf_topic>
+      <dimensions>2</dimensions>
+    </plugin>
+
     <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
       <topic>joint_states</topic>
     </plugin>

package/runtime/ros2_ws/src/agenticros_sim/package.xml

@@ -6,8 +6,9 @@
   <description>
     AgenticROS Gazebo Harmonic simulation assets: indoor world, 2-wheel AMR
     model (depth camera + GPU lidar + IMU), ros_gz_bridge config that exposes
-    topics on AgenticROS' real-robot topic names, and a launch file that wires
-    it all together. Use with the agenticros CLI:  agenticros up sim-amr.
+    topics on AgenticROS real-robot topic names, Nav2 bringup for the indoor
+    map (sim_amr_nav2.launch.py), and launch files that wire it all together.
+    Use with the agenticros CLI: agenticros up sim-amr [--nav2].
   </description>
   <maintainer email="hello@plaipin.com">PlaiPin</maintainer>
   <license>Apache-2.0</license>
@@ -20,6 +21,18 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <!-- Optional Nav2 stack for `sim_amr_nav2.launch.py` / `agenticros up sim-amr --nav2` -->
+  <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>nav2_bt_navigator</exec_depend>
+  <exec_depend>nav2_amcl</exec_depend>
+  <exec_depend>nav2_map_server</exec_depend>
+  <exec_depend>nav2_controller</exec_depend>
+  <exec_depend>nav2_planner</exec_depend>
+  <exec_depend>nav2_behaviors</exec_depend>
+  <exec_depend>nav2_smoother</exec_depend>
+  <exec_depend>nav2_waypoint_follower</exec_depend>
+  <exec_depend>nav2_velocity_smoother</exec_depend>
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

package/runtime/ros2_ws/src/agenticros_sim/urdf/agenticros_amr.urdf.xacro

@@ -19,6 +19,15 @@
 -->
 <robot name="agenticros_amr" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <!-- ===================== base_footprint (Nav2 / costmap convention) ===================== -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <!-- base_link visual origin is chassis center ~0.10 m above ground -->
+    <origin xyz="0 0 0.10" rpy="0 0 0"/>
+  </joint>
+
   <!-- ===================== base_link ===================== -->
   <link name="base_link">
     <visual>

package/runtime/scripts/sim/run_sim.sh

@@ -7,13 +7,14 @@
 # tees output to /tmp/agenticros-sim.log so `agenticros logs sim` works.
 #
 # Usage:
-#   run_sim.sh --robot amr [--namespace sim_robot] [--rviz] [--no-gui]
+#   run_sim.sh --robot amr [--namespace sim_robot] [--rviz] [--no-gui] [--nav2]
 #
 # Flags:
 #   --robot amr|arm        Which sim launch to start (default: amr).
 #   --namespace <ns>       Robot namespace; exported as AGENTICROS_ROBOT_NAMESPACE.
 #   --rviz                 Bring up RViz alongside Gazebo.
 #   --no-gui               Run gz-sim headless (CI / docker).
+#   --nav2                 AMR only: also launch Nav2 (map + AMCL + navigation).
 #   --ros-distro <distro>  Override ROS 2 distro (auto-detect by default).
 #   --colcon-ws <path>     Override the colcon workspace (default: <repo>/ros2_ws).
 #   --help                 Print this help and exit.
@@ -34,6 +35,7 @@ ROBOT="amr"
 NAMESPACE=""
 USE_RVIZ="false"
 GUI="true"
+USE_NAV2="false"
 ROS_DISTRO_OVERRIDE=""
 COLCON_WS=""
 
@@ -43,10 +45,11 @@ while [[ $# -gt 0 ]]; do
     --namespace)    NAMESPACE="$2"; shift 2 ;;
     --rviz)         USE_RVIZ="true"; shift ;;
     --no-gui)       GUI="false"; shift ;;
+    --nav2)         USE_NAV2="true"; shift ;;
     --ros-distro)   ROS_DISTRO_OVERRIDE="$2"; shift 2 ;;
     --colcon-ws)    COLCON_WS="$2"; shift 2 ;;
     -h|--help)
-      sed -n '2,24p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+      sed -n '2,26p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
       exit 0 ;;
     *) echo "Unknown arg: $1" >&2; exit 2 ;;
   esac
@@ -57,6 +60,11 @@ if [[ "$ROBOT" != "amr" && "$ROBOT" != "arm" ]]; then
   exit 2
 fi
 
+if [[ "$USE_NAV2" == "true" && "$ROBOT" != "amr" ]]; then
+  echo "--nav2 is only supported with --robot amr" >&2
+  exit 2
+fi
+
 # ---------- paths ----------
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
@@ -85,7 +93,7 @@ fi
 
 log "ROS_DISTRO=$ROS_DISTRO"
 log "COLCON_WS=$COLCON_WS"
-log "robot=$ROBOT  namespace=${NAMESPACE:-<none>}  rviz=$USE_RVIZ  gui=$GUI"
+log "robot=$ROBOT  namespace=${NAMESPACE:-<none>}  rviz=$USE_RVIZ  gui=$GUI  nav2=$USE_NAV2"
 
 # shellcheck disable=SC1090
 source "/opt/ros/$ROS_DISTRO/setup.bash"
@@ -145,10 +153,23 @@ LAUNCH_ARGS=(
 
 # ---------- Pick launch file ----------
 case "$ROBOT" in
-  amr) LAUNCH_FILE="sim_amr.launch.py" ;;
-  arm) LAUNCH_FILE="sim_arm.launch.py" ;;  # Phase 3
+  amr)
+    if [[ "$USE_NAV2" == "true" ]]; then
+      LAUNCH_FILE="sim_amr_nav2.launch.py"
+    else
+      LAUNCH_FILE="sim_amr.launch.py"
+    fi
+    ;;
+  arm) LAUNCH_FILE="sim_arm.launch.py" ;;
 esac
 
+if [[ "$USE_NAV2" == "true" ]]; then
+  if ! ros2 pkg prefix nav2_bringup >/dev/null 2>&1; then
+    err "nav2_bringup not found. Install: sudo apt install ros-\$ROS_DISTRO-nav2-bringup"
+    exit 1
+  fi
+fi
+
 if ! ros2 launch --help >/dev/null 2>&1; then
   err "ros2 launch not available — is ROS sourced properly?"
   exit 1