Humle ready

Signed-off-by: Piotr Jaroszek <[email protected]>

kraken_nav/README.md

@@ -5,7 +5,7 @@ This package provides navigation capabilities for the apple Kraken vehicle.
 ## ROS2 packages prerequisites
 
 ```
-sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard
+sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard ros-${ROS_DISTRO}-ackermann-msgs
 ```
 
 ## Installation ##
@@ -14,10 +14,10 @@ sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ro
 - Use the the [development](https://github.com/RobotecAI/o3de-ros2-gem/tree/development) branch of the `o3de-ros-gem`.
 - Use [mp/deappletreeized_orchad_kraken](https://github.com/aws-lumberyard/ROSConDemo/tree/mp/deappletreeized_orchad_kraken) branch of the `ROSConDemo`.
 
-1. Source ROS2 (assumed `galactic`)
+1. Source ROS2 (assumed `humble`)
 
 ```bash
-source /opt/ros/galactic/setup.bash
+source /opt/ros/humble/setup.bash
 ```
 
 2. Clone `o3de_kraken_nav` package to `src` directory inside a workspace directory (assumed `~/o3de_kraken_ws`), 

kraken_nav/launch/navigation.launch.py

@@ -73,19 +73,13 @@ def generate_launch_description():
             'timeout_control_interval': 0.1,
             'control_timeout': 0.2,
             'publish_zeros_on_timeout': True
-        }],
-        output={
-            'stdout': 'log'
-        }
+        }]
     )
     
     rviz = Node(
         package='rviz2',
         executable='rviz2',
         name='slam',
-        output={
-            'stdout': 'log',
-        },
         arguments=[
             '-d', str(pathlib.Path(package_dir).joinpath('launch', 'config', 'config.rviz')),
         ]