ROS Navigation Stack

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

• AMD64 Debian Job Status:

Related stacks:

• https://github.com/ros-planning/navigation_msgs (new in Jade+)
• https://github.com/ros-planning/navigation_tutorials
• https://github.com/ros-planning/navigation_experimental

For discussion, please check out the https://groups.google.com/group/ros-sig-navigation mailing list.

Install

• Initial catkin work space

mkdir -p ~/navigation_ws/src
cd ~/navigation_ws
catkin_make

• Install require package (16.04)

cd ~/navigation_ws/src
git clone https://github.com/oiz5201618/my_turtlebot
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
sudo apt-get -y install libbullet-dev libsdl-dev libsdl-image1.2-dev ros-kinetic-bfl ros-kinetic-move-base-msgs

• Install require package (20.04)

cd ~/navigation_ws/src
git clone https://github.com/oiz5201618/my_turtlebot
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
sudo apt-get -y install libbullet-dev libsdl-dev libsdl-image1.2-dev liborocos-bfl-dev ros-noetic-move-base-msgs ros-noetic-tf2-sensor-msgs

For 20.04, remove the "/" in global_costmap_params.yaml and local_costmap_params.yaml

These two files are at my_turtlebot/turtlebot3_navigation/param

Experimental

cd ~/navigation_ws/src
git clone https://github.com/oiz5201618/navigation
cd ..
catkin_make

Original (16.04)

cd ~/navigation_ws/src
git clone https://github.com/oiz5201618/ros_navigation_orig
cd ..
catkin_make

Original (20.04)

cd ~/navigation_ws/src
git clone https://github.com/ros-planning/navigation
cd ..
catkin_make

Download map file and configure it

vi sim_map.yaml

• change this path to your home directory

image: $HOME/sim_map.pgm

Usage (with Turtlebot3 simulation)

• Setup ~/.bashrc

export TURTLEBOT3_MODEL=burger

• Launch simulation world

roslaunch turtlebot3_gazebo turtlebot3_world.launch

• Launch navigation stack

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/sim_map.yaml

• Launch rviz

rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/turtlebot3_nav.rviz