nav1 sim architecture

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 31, 2024 · ae61b26 · ae61b26
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@@ -276,6 +276,8 @@ ros2 run rmf_demos_tasks dispatch_patrol \
 
 ### Nav1 Single turtlebot3 world
 
+![](../media/nav1_sim_architecture.jpg)
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 > [!WARNING]
 > The Nav1 integration has only been tested in simulation and in ROS 1 Noetic, and is currently still using a fork of [zenoh-plugin-ros1](https://github.com/aaronchongth/zenoh-plugin-ros1), to support bridge namespacing. This will be updated after contributions to upstream has been made.