Nav stack examples for ANF ROS 2

Cloning

Clone this repo recursively:

git clone https://github.com/oKermorgant/anf_nav.git --recursive

If you forgot, activate the submodule with:

git submodule update --init --recursive

Dependencies

• simple_launch
• slider_publisher
• navigation2
• map_simulator (cloned with this repo)
  • opencv
• turtlebot3_description

Install all deps before compiling:

sudo apt install ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-simple-launch \
                ros-${ROS_DISTRO}-slider-publisher ros-${ROS_DISTRO}-turtlebot3-description \
                libopencv-dev

Compile and source your workspace

colcon build --symlink-install && source install/setup.bash

Running the simulation

ros2 launch anf_nav sim_launch.py

Available launch files

Spawing a robot

ros2 launch anf_nav spawn_launch.py

Arguments:

• robot (bb8 or turtlebot): which robot to spawn
• gt (bool): whether we use ground truth localization as opposed to AMCL

Launching the nav stack

ros2 launch anf_nav nav_launch.py

Arguments:

• robot (bb8 or turtlebot): which robot to spawn
• nav (bool): whether to use the nav stack or manual control

Spawn + nav

ros2 launch anf_nav robot_launch.py

Arguments:

• robot (bb8 or turtlebot): which robot to spawn
• gt (bool): whether we use ground truth localization as opposed to AMCL
• nav (bool): whether to use the nav stack or manual control