Original 2D Navigation Packages.
under development
docker pull hazehk/navyu
xhost +
docker run -it --rm --net=host --env="DISPLAY=$DISPLAY" hazehk/navyu:latest
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/RyuYamamoto/navyu
git clone https://github.com/CIT-Autonomous-Robot-Lab/emcl2_ros2 # if use emcl2 package
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Launch Gazebo Simulator
ros2 launch navyu_simulator navyu_simulator_bringup.launch.py
ros2 launch navyu_navigation navyu_bringup.launch.py localization:=true
navigation.mp4
Launch Simple Simulator
ros2 launch navyu_simulator navyu_simple_simulator_bringup.launch.py use_rviz:=false
ros2 launch navyu_navigation navyu_bringup.launch.py localization:=false
- Path Tracking
- Velocity Planning
- Velocity Smoothing
- Model Predictive Control Path Tracking
- 2D/3D Localization
- Local Path Planning
- Collision Monitor
- Add Obstacle Layer to Costmap
- 3D Costmap