Updates for Isaac Sim 5.0.0 full release

Author: ayushgnv

CHANGELOG.md

@@ -1,4 +1,9 @@
 # Changelog
+## [4.4.2] - 2025-08-06
+
+### Changed
+- Upgraded configs in `carter_navigation` and `iw_hub_navigation` packages for Nav2 Jazzy [Jazzy]
+
 ## [4.4.1] - 2025-07-23
 
 ### Changed

jazzy_ws/src/navigation/carter_navigation/launch/carter_navigation.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
                 "params_file", default_value=param_dir, description="Full path to param file to load"
             ),
             DeclareLaunchArgument(
-                "use_sim_time", default_value="true", description="Use simulation (Omniverse Isaac Sim) clock if true"
+                "use_sim_time", default_value="True", description="Use simulation (Omniverse Isaac Sim) clock if True"
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),
@@ -82,6 +82,7 @@ def generate_launch_description():
                     'use_inf': True,
                     'inf_epsilon': 1.0,
                     # 'concurrency_level': 1,
+                    'use_sim_time': True,
                 }],
                 name='pointcloud_to_laserscan'
             )

jazzy_ws/src/navigation/carter_navigation/launch/carter_navigation_individual.launch.py

@@ -44,7 +44,7 @@ def generate_launch_description():
     declare_namespace_cmd = DeclareLaunchArgument("namespace", default_value="", description="Top-level namespace")
 
     declare_use_namespace_cmd = DeclareLaunchArgument(
-        "use_namespace", default_value="false", description="Whether to apply a namespace to the navigation stack"
+        "use_namespace", default_value="False", description="Whether to apply a namespace to the navigation stack"
     )
 
     declare_slam_cmd = DeclareLaunchArgument("slam", default_value="False", description="Whether run a SLAM")
@@ -56,7 +56,7 @@ def generate_launch_description():
     )
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
-        "use_sim_time", default_value="True", description="Use simulation (Isaac Sim) clock if true"
+        "use_sim_time", default_value="True", description="Use simulation (Isaac Sim) clock if True"
     )
 
     declare_params_file_cmd = DeclareLaunchArgument(
@@ -74,7 +74,7 @@ def generate_launch_description():
     )
 
     declare_autostart_cmd = DeclareLaunchArgument(
-        "autostart", default_value="true", description="Automatically startup the nav2 stack"
+        "autostart", default_value="True", description="Automatically startup the nav2 stack"
     )
 
     bringup_cmd = IncludeLaunchDescription(

jazzy_ws/src/navigation/carter_navigation/launch/carter_navigation_isaacsim.launch.py

@@ -85,7 +85,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                 ),
                 launch_arguments={
                     'version': '5.0.0',
-                    'play_sim_on_start': 'true',
+                    'play_sim_on_start': 'True',
                 }.items(),
             ),
 
@@ -94,7 +94,7 @@ def execute_second_node_if_condition_met(event, second_node_action):
                 "params_file", default_value=param_dir, description="Full path to param file to load"
             ),
             DeclareLaunchArgument(
-                "use_sim_time", default_value="true", description="Use simulation (Omniverse Isaac Sim) clock if true"
+                "use_sim_time", default_value="True", description="Use simulation (Omniverse Isaac Sim) clock if True"
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(os.path.join(nav2_bringup_launch_dir, "rviz_launch.py")),

jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_hospital.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
     autostart = LaunchConfiguration("autostart")
     rviz_config_file = LaunchConfiguration("rviz_config")
     use_rviz = LaunchConfiguration("use_rviz")
-    log_settings = LaunchConfiguration("log_settings", default="true")
+    log_settings = LaunchConfiguration("log_settings", default="True")
 
     # Declare the launch arguments
     declare_map_yaml_cmd = DeclareLaunchArgument(
@@ -144,15 +144,15 @@ def generate_launch_description():
                                 ('scan', ['scan'])],
                     parameters=[{
                         'target_frame': 'front_3d_lidar',
-                        'transform_tolerance': 0.01,
-                        'min_height': -0.4,
+                        'transform_tolerance': 0.3,
+                        'min_height': -0.1,
                         'max_height': 1.5,
                         'angle_min': -1.5708,  # -M_PI/2
                         'angle_max': 1.5708,  # M_PI/2
                         'angle_increment': 0.0087,  # M_PI/360.0
                         'scan_time': 0.3333,
-                        'range_min': 0.05,
-                        'range_max': 100.0,
+                        # 'range_min': 0.05,
+                        # 'range_max': 100.0,
                         'use_inf': True,
                         'inf_epsilon': 1.0,
                         # 'concurrency_level': 1,

jazzy_ws/src/navigation/carter_navigation/launch/multiple_robot_carter_navigation_office.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
     autostart = LaunchConfiguration("autostart")
     rviz_config_file = LaunchConfiguration("rviz_config")
     use_rviz = LaunchConfiguration("use_rviz")
-    log_settings = LaunchConfiguration("log_settings", default="true")
+    log_settings = LaunchConfiguration("log_settings", default="True")
 
     # Declare the launch arguments
     declare_map_yaml_cmd = DeclareLaunchArgument(