From da9889a2b92c85a6f16924cc70c5bfe3ad869ebb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 4 Oct 2023 10:10:13 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 85f3d16..3fcc084 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -246,9 +246,11 @@ services:
   # navigation
   navigation:
     extends: overlay
+    # command: >
+    #   ros2 launch cps_rmp220_support robot_navigation.launch.py
+    #   map_subscribe_transient_local:=true
     command: >
-      ros2 launch cps_rmp220_support robot_navigation.launch.py
-      map_subscribe_transient_local:=true
+      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map_current.sav.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2