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Nav2 with Andino robot

Note: Nav2 is only configured to work with the simulation for the moment. Support to real robot is forthcoming.

Build

Install package dependencies:

rosdep install --from-paths src -i -y

Build the package:

colcon build

Note: --symlink-install can be added if needed.

Finally, source the install folder

. install/setup.bash

Usage

This package has the next option to be executed.

Andino with nav2 in Gazebo Simulation

This launch file use the turtlebot3_world like world example which has an Apache 2 license.

 . /usr/share/gazebo/setup.bash
 ros2 launch andino_navigation andino_simulation_navigation.launch.py

To test the navigation inside rviz:

  • click in 2D pose estimate button and select the initial pose of the robot
  • click in nav2 Goal button and select the final point.
  • the robot will start to move to the selected goal.

You test adding obstacles inside the Gazebo simulation or use the rviz button Waypoint/ nav through Poses mode to select sequential targets.

This package has been tested with the Andino robot with diff drive plugin in gazebo. If you change the world you should change the map but also it is recommended to tune navigation parameters.