> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/simulation/nav2-bring-up-and-tuning.md).

# Nav2 Bring-up and Tuning

Bring up autonomy only after manual motion, odometry, TF, sensors, and stop behavior pass their smoke tests.

```mermaid
flowchart TD
    sensors["Sensors"] --> localization["SLAM / localization"]
    localization --> nav2["Nav2 planning and control"]
    nav2 --> safety["CAREC safety gate"]
    safety --> drive["ros2_control drive"]
```

## Activation order

1. Simulation clock, robot description, and transforms.
2. Controllers and joint-state feedback.
3. Sensor bridges and health monitoring.
4. Odometry and state estimation.
5. SLAM or map-based localization.
6. Nav2 servers and lifecycle manager.
7. CAREC safety gate and autonomy authorization.

## Wheelchair-specific tuning

| Area             | Parameters to validate                                                       |
| ---------------- | ---------------------------------------------------------------------------- |
| Footprint        | Occupied envelope, footrest, sensor mast, safety margin                      |
| Kinematics       | Differential-drive limits, minimum controllable speed, acceleration and jerk |
| Costmaps         | Inflation, obstacle persistence, clearing, unknown space                     |
| Planner          | Narrow-passage feasibility, turning space, reverse-motion policy             |
| Controller       | Tracking error, oscillation, goal approach, stop distance                    |
| Progress checker | Stuck detection without false recovery loops                                 |
| Goal checker     | Position/yaw tolerances appropriate for wheelchair use                       |
| Behavior tree    | Human-aware stop, replan, wait, assistance request, cancellation             |

Run straight-line, rotation, square-path, doorway, corridor, goal-approach, blocked-route, and manual-takeover tests before increasing speed.

{% hint style="warning" %}
Nav2 producing a path does not authorize motion. CAREC's independent mode and safety logic retains final command authority.
{% endhint %}


---

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