Dependecies

sudo apt install ros-humble-pointcloud-to-laserscan

map.yaml bringup.launch line 100

    bringup_dir, 'maps', 'xlab.yaml'

launch

ros2 launch navigation_bringup driver.launch.py
ros2 launch navigation_bringup bringup_launch.py
start up
give 2d pose estimate
ros2 launch navigation_bringup nav_api.launch.py

get pose in map

ros2 topic echo /goal_pose
send 2d pose in rviz