ROS Index
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Package Summary
| Tags | No category tags. |
| Version | 1.1.17 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/navigation2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-11-22 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Michael Jeronimo
- Steve Macenski
- Carlos Orduno
Authors
nav2_bringup
The nav2_bringup package is an example bringup system for Nav2 applications.
This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you’re mirroring nav2_bringup package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
Usual robot stacks will have a <robot_name>_nav package with config/bringup files and this is that for the general case to base a specific robot system off of.
Dynamically composed bringup (based on ROS2 Composition) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument use_composition:=False.
- Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
To use, please see the Nav2 Getting Started Page on our documentation website. Additional tutorials will help you go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
Note:
- gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
- spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument
/tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf’s of the different robot.
Launch
Multi-robot Simulation
This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
Cloned
This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from nav2_multirobot_params_all.yaml file by default.
The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}.
Please refer to below examples.
ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
Unique
There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (nav2_multirobot_params_1.yaml, nav2_multirobot_params_2.yaml) for each robot to bring up.
If you want to bringup more than two robots, you should modify the unique_multi_tb3_simulation_launch.py script.
ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| nav2_common | |
| navigation2 | |
| launch_ros | |
| ament_cmake | |
| slam_toolbox | |
| ament_lint_common | |
| ament_lint_auto | |
| ament_cmake_gtest | |
| ament_cmake_pytest | |
| launch | |
| launch_testing |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged nav2_bringup at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.2.10 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/navigation2.git |
| VCS Type | git |
| VCS Version | iron |
| Last Updated | 2024-10-02 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Michael Jeronimo
- Steve Macenski
- Carlos Orduno
Authors
nav2_bringup
The nav2_bringup package is an example bringup system for Nav2 applications.
This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you’re mirroring nav2_bringup package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
Usual robot stacks will have a <robot_name>_nav package with config/bringup files and this is that for the general case to base a specific robot system off of.
Dynamically composed bringup (based on ROS2 Composition) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument use_composition:=False.
- Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
To use, please see the Nav2 Getting Started Page on our documentation website. Additional tutorials will help you go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
Note:
- gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
- spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument
/tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf’s of the different robot.
Launch
Multi-robot Simulation
This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
Cloned
This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from nav2_multirobot_params_all.yaml file by default.
The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}.
Please refer to below examples.
ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
Unique
There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (nav2_multirobot_params_1.yaml, nav2_multirobot_params_2.yaml) for each robot to bring up.
If you want to bringup more than two robots, you should modify the unique_multi_tb3_simulation_launch.py script.
ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| nav2_common | |
| navigation2 | |
| launch_ros | |
| ament_cmake | |
| slam_toolbox | |
| turtlebot3_gazebo | |
| ament_lint_common | |
| ament_lint_auto | |
| ament_cmake_gtest | |
| ament_cmake_pytest | |
| launch | |
| launch_testing |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged nav2_bringup at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.3.3 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/navigation2.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-11-21 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Michael Jeronimo
- Steve Macenski
- Carlos Orduno
Authors
nav2_bringup
The nav2_bringup package is an example bringup system for Nav2 applications.
This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you’re mirroring nav2_bringup package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
Usual robot stacks will have a <robot_name>_nav package with config/bringup files and this is that for the general case to base a specific robot system off of.
Dynamically composed bringup (based on ROS2 Composition) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument use_composition:=False.
- Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
To use, please see the Nav2 Getting Started Page on our documentation website. Additional tutorials will help you go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
Note:
- gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
- spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument
/tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf’s of the different robot.
Launch
Multi-robot Simulation
This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
Cloned
This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from nav2_multirobot_params_all.yaml file by default.
The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}.
Please refer to below examples.
ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
Unique
There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (nav2_multirobot_params_1.yaml, nav2_multirobot_params_2.yaml) for each robot to bring up.
If you want to bringup more than two robots, you should modify the unique_multi_tb3_simulation_launch.py script.
ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged nav2_bringup at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.12 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/navigation2.git |
| VCS Type | git |
| VCS Version | galactic |
| Last Updated | 2022-09-15 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Michael Jeronimo
- Steve Macenski
- Carlos Orduno
Authors
nav2_bringup
The nav2_bringup package is an example bringup system for Nav2 applications.
Pre-requisites:
- Install ROS 2
- Install Nav2
```sudo apt install ros-
* Install Nav2 Bringup
```sudo apt install ros-<ros2_distro>-nav2-bringup
- Install your robot specific package (ex:Turtlebot 3)
Launch Nav2 in Simulation with Gazebo
Pre-requisites:
- Install Gazebo
- gazebo_ros_pkgs for ROS2 installed on the system
```sudo apt-get install ros-
* A Gazebo world for simulating the robot ([Gazebo tutorials](http://gazebosim.org/tutorials?tut=quick_start))
* A map of that world saved to a map.pgm and map.yaml ([ROS Navigation Tutorials](https://github.com/ros-planning/navigation2/tree/main/doc/use_cases))
### Terminal 1: Launch Gazebo
Example: See [turtlebot3_gazebo models](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/ros2/turtlebot3_gazebo/models) for details
```bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<full/path/to/my_robot/models>
gazebo --verbose -s libgazebo_ros_init.so <full/path/to/my_gazebo.world>
Terminal 2: Launch your robot specific transforms
Example: See turtlebot3_gazebo for details
source /opt/ros/dashing/setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py use_sim_time:=True
Terminal 3: Launch Nav2
source /opt/ros/dashing/setup.bash
ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True autostart:=True \
map:=<full/path/to/map.yaml>
Terminal 4: Run RViz with Nav2 config file
source /opt/ros/dashing/setup.bash
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/launch/nav2_default_view.rviz
In RViz:
- You should see the map
- Localize the robot using “2D Pose Estimate” button.
- Make sure all transforms from odom are present. (odom->base_link->base_scan)
- Send the robot a goal using “Nav2 Goal” button. Note: this uses a ROS2 Action to send the goal, and a pop-up window will appear on your screen with a ‘cancel’ button if you wish to cancel
To view the robot model in RViz:
- Add “RobotModel”, set “Description Source” with “File”, set “Description File” with the name of the urdf file for your robot (example: turtlebot3_burger.urdf)”
Advanced: single-terminal launch
A convenience file is provided to launch Gazebo, RVIZ and Nav2 using a single command:
ros2 launch nav2_bringup tb3_simulation_launch.py <settings>
Where <settings> can used to replace any of the default options, for example:
world:=<full/path/to/gazebo.world>
map:=<full/path/to/map.yaml>
rviz_config_file:=<full/path/to/rviz_config.rviz>
simulator:=<gzserver or gazebo>
bt_xml_file:=<full/path/to/bt_tree.xml>
Before running the command make sure you are sourcing the ROS2 workspace, setting the path to the Gazebo model and defining the TB3 robot model to use.
source <full/path/to/ros2/setup.bash>
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<full/path/to/my_robot/models>
export TURTLEBOT3_MODEL=waffle
Also, a file for launching two robots with independent navigation stacks is provided:
ros2 launch nav2_bringup multi_tb3_simulation_launch.py <settings>
Launch Nav2 on a Robot
Pre-requisites:
-
Run SLAM with Navigation 2 or tele-op to drive the robot and generate a map of an area for testing first. The directions below assume this has already been done or there is already a map of the area.
-
Learn more about how to use Navigation 2 with SLAM to create maps;
-
Please note that currently, nav2_bringup works if you provide a map file. However, providing a map is not required to use Nav2. Nav2 can be configured to use the costmaps to navigate in an area without using a map file
-
Publish all the transforms from your robot from base_link to base_scan
Terminal 1 : Launch Nav2 using your map.yaml
source /opt/ros/dashing/setup.bash
ros2 launch nav2_bringup bringup_launch.py map:=<full/path/to/map.yaml> map_type:=occupancy
Terminal 2 : Launch RVIZ
source /opt/ros/dashing/setup.bash
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/launch/nav2_default_view.rviz
In RVIZ:
- Make sure all transforms from odom are present. (odom->base_link->base_scan)
- Localize the robot using “2D Pose Estimate” button.
- Send the robot a goal pose using “2D Nav Goal” button.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| nav2_common | |
| navigation2 | |
| launch_ros | |
| ament_cmake | |
| slam_toolbox | |
| ament_lint_common | |
| ament_lint_auto | |
| ament_cmake_gtest | |
| ament_cmake_pytest | |
| launch | |
| launch_testing |