Navigation2 (Ignition) Gazebo Example

Minimal example ROS2 project to use Navigation2 with (Ignition) Gazebo. Based on the official Gazebo Classic example: tutorial, code

gz-nav2-tb3.webm

Requirements

• ROS 2 Humble
• Gazebo Fortress
• Navigation 2

Setup and build

# Install Nav2 dependencies
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

# Import source dependencies
pip3 install vcstool
vcs import --input deps.repos src

# Install rosrep dependencies
rosdep install -y -r -i  --from-paths . 

# Make sure ROS2 is sourced (assuming bash, please replace extension as needed)
source /opt/ros/humble/setup.bash

# Build
colcon build

# Make sure the app is sourced (assuming bash, please replace extension as needed)
source install/setup.bash

Run examples

# Launch Gazebo, RViz, and Navigation2
ros2 launch sam_bot_nav2_gz complete_navigation.launch.py

# Set goal poses in RViz or run a navigation example:
ros2 run sam_bot_nav2_gz follow_waypoints.py
ros2 run sam_bot_nav2_gz reach_goal.py

Run tests with launch_testing

# Start one of the tests with
launch_test src/sam_bot_nav2_gz/test/test_bringup.launch.py
launch_test src/sam_bot_nav2_gz/test/test_reach_goal.launch.py
launch_test src/sam_bot_nav2_gz/test/test_follow_waypoints.launch.py

Run tests with Artefacts CI

1. Set up a new Artefacts CI project. Instructions: https://docs.artefacts.com/latest/
2. Replace the project name in the artefacts.yaml with the name of your project

# Run test locally
artefacts run all

# Run test remotely
artefacts run-remote all --description "Test Navigation2"

# Run test locally with Docker
docker build -t nav2-gz .
# ARTEFACTS_KEY can be generated at the project-settings page of the Artefacts CI dashboard
docker run --rm -e ARTEFACTS_JOB_NAME=all -e ARTEFACTS_KEY=${ARTEFACTS_KEY} nav2-gz

Visualize navigation with Rerun.io (experimental)

For more info, see: https://www.rerun.io/docs/howto/ros2-nav-turtlebot

cd rerun
# create a virtual env and install dependencies
python3 -m venv rr-venv
source rr-venv/bin/activate
pip install -r requirements
# Run rerun node
python run-rerun.py