mvsim_nav2_demos

Launch and configuration files for running Nav2 on MVsim worlds using ROS 2.

Usage:

• Clone into your workspace/src directory.
• Install dependencies (TESTED ON ROS humble !!):

sudo apt install \
  ros-$ROS_DISTRO-mvsim \
  ros-$ROS_DISTRO-navigation2 \
  ros-$ROS_DISTRO-nav2-bringup \
  ros-$ROS_DISTRO-turtlebot3*

• Build as usual (colcon build).

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
. install/setup.bash

• Invoke with:

  ros2 launch mvsim_nav2_demos turtlebot_simulation_launch.py
  ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py
  
  ros2 launch mvsim_nav2_demos greenhouse_simulation_launch.py world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml
  

This package is based on nav2_bringup, so we inherit their Apache-2 License here.

Launch alternative with mrpt_navigation

• Clone into "src" https://github.com/mrpt-ros-pkg/mrpt_navigation.git
• Build:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
. install/setup.bash

• Launch:

ros2 launch mrpt_tutorials demo_reactive_nav_mvsim.launch.py  world_file:=$(pwd)/src/mvsim_nav2_demos/launch/demo_greenhouse_jjaa.world.xml