Deploy to Nav2

Goal: install a compatible ONNX bundle and launch the DWARL controller. Your robot must already provide drivers, filtered scan, odometry, TF, map and localization.

Install a checkpoint

pixi run deploy --run runs/<run> --checkpoint <iteration>

DWARL checks the current integration against the frozen training model, prepares the ONNX bundle and updates selected_policy.yaml. It reports recorded evaluation evidence; installation does not certify navigation quality.

The bundle includes the model, deployment contract, assets and provenance. Keep the whole bundle together. New weights do not require recompiling the controller.

Launch on this computer

After starting the robot interfaces and localization, use the complete command printed by deploy. For a wizard-generated integration it looks like:

pixi run ros2 launch my_robot_dwarl navigation.launch.py \
  integration:=/absolute/path/to/my_robot_dwarl

The wrapper reads the selected policy. Set use_sim_time:=true for a simulator. Open RViz and send a Nav2 goal. DWARL's standard navigation launch supplies Nav2 and a collision monitor; it expects the drivers, map and localization to be running.

Use another robot computer

Copy the complete bundle to the target. On a supported Linux x86-64 target, clone DWARL and run its dedicated runtime environment:

pixi run -e runtime runtime-launch model_dir:=/absolute/path/to/bundle use_sim_time:=false

This builds the native packages in a separate directory and activates them automatically. The runtime environment contains Nav2 and inference dependencies, without PyTorch or MuJoCo. The lockfile currently targets Linux x86-64; other architectures need separate packaging and verification.

Already have a Nav2 stack?

Load dwarl_controller::DwarlController in your controller server and pass the complete bundle as model_dir. Match the robot ID, control frequency, footprint, topics and command routing. See the existing-stack configuration.

Need help? Troubleshooting covers incompatible bundles and motion interfaces.