chore: Split robot launch - mapping (bringup+SLAM) vs robot (bringup+nav)

CLAUDE.md

@@ -12,7 +12,8 @@ pixi run submodules     # Fetch git submodules (sllidar_ros2, kinematic_icp)
 pixi run launch         # Full robot bringup (hardware + lidar + camera + localization)
 pixi run slam           # SLAM stack only (run alongside launch)
 pixi run nav            # Nav2 stack (requires a saved map at ~/.mote/map.yaml)
-pixi run robot          # mote_launch + slam together
+pixi run mapping        # bringup + SLAM together (build/extend a map)
+pixi run robot          # bringup + Nav2 together (drive a saved map; needs ~/.mote/map.yaml)
 pixi run save-map       # Save current map to ~/.mote/map
 pixi run teleop         # Keyboard teleoperation
 pixi run sync           # rsync project to Pi at SSH host 'mote'
@@ -65,9 +66,10 @@ Contains `urdf/mote.urdf.xacro` and `config/robot.yaml`. The xacro loads robot.y
 Launch files, config, udev rules, and systemd services.
 
 **Launch hierarchy:**
-- `robot_launch.py` — combines `mote_launch.py` + `slam_launch.py`
+- `robot_launch.py` — combines `mote_launch.py` + `nav2_launch.py` (everyday operation: drive a saved map). Forwards a `map` arg, defaulting to `~/.mote/map.yaml`.
+- `mapping_launch.py` — combines `mote_launch.py` + `slam_launch.py` (build/extend a map with SLAM)
 - `mote_launch.py` — main bringup: robot_state_publisher, ros2_control_node, controller spawners, sllidar, laser_filter, v4l2_camera, and `localization_launch.py`. Reads `robot.yaml` for wheel geometry (injected into DiffDriveController params) and sensor config.
-- `localization_launch.py` — AMCL-based localization
+- `localization_launch.py` — kinematic_icp LIDAR odometry (publishes `odom`→`base`; the map→odom corrector is slam_toolbox when mapping or AMCL when navigating). Despite the name, it does *not* run AMCL — AMCL lives in `nav2_launch.py`.
 - `slam_launch.py` — slam_toolbox (accepts `use_sim_time:=true` for the sim)
 - `sim_launch.py` — Gazebo sim (sim environment only): headless gz server with `worlds/mote_world.sdf`, robot spawn, ros_gz bridge (/clock, /scan), controllers, laser_filter. The URDF is processed with `use_sim:=true`, which swaps `MoteHardware` for `gz_ros2_control` and adds a simulated lidar (specs from `robot.yaml` `lidar.sim`). Without that flag the xacro output is unchanged. Controller params are merged into one temp file (gz_ros2_control loads a single `<parameters>` file referenced in the URDF).
 - `nav2_launch.py` — Nav2 stack

README.md

@@ -160,6 +160,10 @@ pixi run rviz   # Runs rviz to view the map and navigate
 pixi run slam   # Runs the SLAM stack to create a map
 # or
 pixi run nav    # Runs the nav stack
+
+# Convenience combos (base + the relevant stack in one command):
+pixi run mapping # = launch + slam  (build/extend a map)
+pixi run robot   # = launch + nav   (drive a saved map at ~/.mote/map.yaml)
 ```
 
 ### Simulation (no hardware required)

mote_bringup/launch/mapping_launch.py

@@ -0,0 +1,25 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    launch_dir = os.path.join(
+        get_package_share_directory("mote_bringup"), "launch"
+    )
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(launch_dir, "mote_launch.py")
+            )
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(launch_dir, "slam_launch.py")
+            )
+        ),
+    ])

mote_bringup/launch/robot_launch.py

@@ -2,24 +2,33 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
     launch_dir = os.path.join(
         get_package_share_directory("mote_bringup"), "launch"
     )
 
+    default_map = os.path.join(os.path.expanduser("~"), ".mote", "map.yaml")
+
     return LaunchDescription([
+        DeclareLaunchArgument(
+            "map",
+            default_value=default_map,
+            description="Full path to the map yaml file Nav2 should load",
+        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(launch_dir, "mote_launch.py")
             )
         ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                os.path.join(launch_dir, "slam_launch.py")
-            )
+                os.path.join(launch_dir, "nav2_launch.py")
+            ),
+            launch_arguments={"map": LaunchConfiguration("map")}.items(),
         ),
     ])

pixi.toml

@@ -13,11 +13,12 @@ build = { cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_PO
 clean = "pkill -9 -f 'robot_state_publisher|ros2_control_node|sllidar|v4l2_camera|spawner'; ros2 daemon stop; rm -f /dev/shm/fast*; ros2 daemon start; true"
 install-systemd = "bash mote_bringup/systemd/install.sh"
 launch = "ros2 launch mote_bringup mote_launch.py"
+mapping = "ros2 launch mote_bringup mapping_launch.py"
 nav = "ros2 launch mote_bringup nav2_launch.py map:=$HOME/.mote/map.yaml"
 robot = "ros2 launch mote_bringup robot_launch.py"
 save-map = "mkdir -p $HOME/.mote && ros2 run nav2_map_saver map_saver_cli -f $HOME/.mote/map"
 slam = "ros2 launch mote_bringup slam_launch.py"
-sync = "rsync -avz --exclude='.pixi/' --exclude='build/' --exclude='install/' --exclude='log/' --exclude='.git/' --exclude='.claude/' . michael@mote:~/Mote/"
+sync = "rsync -avz --exclude='.pixi/' --exclude='build/' --exclude='install/' --exclude='log/' --exclude='.git/' --exclude='.claude/' . michael@auldbot:~/Mote/"
 teleop = "ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -r /cmd_vel:=/diff_drive_controller/cmd_vel"
 udev = "sudo cp mote_bringup/udev/99-mote.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && sudo udevadm trigger"
 setup-ids = "ros2 run mote_hardware setup_ids"