Run individual ROS nodes

This page provides examples for running individual ROS nodes with custom options and custom values for the ROS parameters from the YAML files in the launch/params/ folder.

The commands here are mostly useful for debugging and development, while Docker Compose and the Makefile and ROS launch system are recommended for launching larger configurations of nodes.

Prerequisites

These instructions assume you have installed GISNav locally.

Custom log level

Change the log level with the --log-level argument:

cd ~/colcon_ws
ros2 run gisnav gis_node --ros-args \
    --log-level info

Custom parameter values

Provide custom ROS parameter values at launch in a YAML file using the --params-file argument:

cd ~/colcon_ws
ros2 run gisnav gis_node --ros-args \
    --params-file src/gisnav/gisnav/launch/params/gis_node.yaml

Configure via admin portal

The Admin portal home page has a link to a captive FileGator file server that allows you to edit these ROS parameter YAML files via a web browser.