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ros2_navigation package from openrobotics repo

ros2_ballbot ros2_cartpole ros2_double_integrator ros2_quadrotor ros2_robot_vacuum ros2_vacuum_gazebo ros2_vacuum_slam action common_utils composition executors gazebo_camera gazebo_spawner lifecycle params pointcloud_subsriber rviz service system_monitor tf2_demos timer topic tutorials_msgs urdf decomp_ros decomp_ros_msgs decomp_ros_utils decomp_test_node ros2_math casadi_cpp casadi_python casadi_tutorials nav2_linear_quadratic_regulator_controller motion_model mpc_controller pid_controller robotic_assets ros2_controller ros2_controller_msgs waypoint_generator behavior_tree bspline carlike_simulator fast_methods forest_map_generator gridmap_ros map_generator nav2_demos a_star_planner breadth_first_search_planner bug_planner cubic_spline_planner d_star_lite_planner d_star_planner depth_first_planner dijkstra_planner dubins_path_planner eta3_spline_planner flow_filed_planner frenet_optimal_trajectory_planner greedy_best_first_search_planner hybrid_a_star_planner informed_rrt_star_planner nav2_straightline_planner path_planning potential_field_planner quintic_polynomials_planner rrt_dubins_planner rrt_planner rrt_star_planner state_lattice_planner voronoi_planner wave_front_planner cgmres_nmpc_tracking lqr_speed_steer_control_tracking model_predictive_speed_steer_control_tracking path_tracking pure_pursuit_tracking rear_wheel_feedback_tracking stanley_controller_tracking ros2_navigation ros2_system_test sdf_tools trajectory local_sensing multi_map_server odom_visualization pose_utils quadrotor_msgs so3_disturbance_generator so3_quadrotor_simulator uav_utils visualization_tools voronoi_layer quad_behavior_tree quad_bringup quad_bt_navigator quad_common quad_controller quad_core quad_costmap quad_global_planner quad_local_planner quad_logger quad_map_server quad_msgs quad_nmpc_controller quad_planner quad_robot_driver quad_rviz_plugins a1_description a1_simulation quad_gazebo spirit_description spirit_gazebo spirit_simulation quad_system_tests quad_teleop quad_utils ros2_quadruped gazebo_examples sam_bot_description velodyne_description velodyne_gazebo_plugins velodyne_simulator

Package Summary

Tags No category tags.
Version 1.1.8
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/duyongquan/openrobotics.git
VCS Type git
VCS Version main
Last Updated 2024-01-16
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bringup scripts and configurations for the Nav2 stack

Additional Links

No additional links.

Maintainers

  • Michael Jeronimo
  • Steve Macenski
  • Carlos Orduno

Authors

No additional 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.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ros2_navigation at Robotics Stack Exchange

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