mvsim_nav2_demos

Launch with Nav2

Launch and configuration files for running Nav2 on MVsim worlds using ROS 2.

Usage:

• Clone into your workspace/src directory.

• Install dependencies (TESTED ON ROS humble !!):

  sudo apt install \
    ros-$ROS_DISTRO-mvsim \
    ros-$ROS_DISTRO-navigation2 \
    ros-$ROS_DISTRO-nav2-bringup \
    ros-$ROS_DISTRO-turtlebot3*

• Build as usual (colcon build).

  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  . install/setup.bash

• Invoke with:

  ros2 launch mvsim_nav2_demos turtlebot_simulation_launch.py
  ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py
  
  ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml

This package is based on nav2_bringup, so we inherit their Apache-2 License here.

Multi-agent demo

ROS2 Humble only (Issue is occurred in Iron and Jazzy.)

Multi-agent demo supports multiple agents with fake-amcl (ground truth on mvsim). Therefore, this demo is useful for verification and implementation of the overall system, including path planning.

• Invoke mvsim with:

  ros2 launch mvsim_nav2_demos demo_warehouse_6robots.launch.py

• Invoke nav2 with:

  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh1
  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh2
  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh3
  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh4
  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh5
  ros2 launch mvsim_nav2_demos mvsim_vehs_launch.py namespace:=veh6

How to send a goal

• Send goal via rviz:

  • Click the Nav2 Goal button on the top bar.
  • Click and hold on the goal position and drag to the goal heading.
  • Then you can see a green arrow and that is the goal (2d position and heading).

• Send goal action via terminal:

  • The namespace is veh1 and -f option is for the feedback information

  ros2 action send_goal /veh1/navigate_to_pose nav2_msgs/action/NavigateToPose \
  "{pose: {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \
  pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \
  behavior_tree: \"\"}" -f

• Send goal poses action via terminal:

  • The namespace is veh1 and -f option is for the feedback information

  ros2 action send_goal /veh1/navigate_through_poses nav2_msgs/action/NavigateThroughPoses \
    "{poses: [
    {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \
    pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \
    {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \
    pose: {position: {x: 3.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \
    {header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"}, \
    pose: {position: {x: 5.0, y: 1.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \
    ], \
    behavior_tree: \"\"}" -f

Launch alternative with mrpt_navigation

• Clone into "src" https://github.com/mrpt-ros-pkg/mrpt_navigation.git

• Build:

  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
  . install/setup.bash

• Launch:

  ros2 launch mrpt_tutorials demo_reactive_nav_mvsim.launch.py  world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml