Using Nav2 for navigating a simulated Turtlebot 3 in the Ignition Gazebo simulator.
ROS_LOCALHOST_ONLY=1 TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3 simulation.launch.py to launch simulation, nav2, and rviz2 simultaneously.
/odom topic, odom frame, and /odom/tf (tf topic) are defined in model.sdf. The transformation of base_footprint in the odom frame is published through /odom/tf. /odom topic publishes the transformation of odom frame in the map frame.
Use ros2 run tf2_tools view_frames to see the tf frame relations.
Ign gazebo publishes joint_states, which is then translated to ROS2 topic via ros_ign_bridge, and consumed by robot_state_publisher (a ROS2 node) for computing/publishing most of tf.
/odom/tf is remapped to /tf.
Ign gazebo topics are translated to/from ROS2 topics via ros_ign_bridge.
nav2_bringup is called to initiate basic services and configurations.
Tested with Ignition Gazebo Fortress and ROS2 Humble.
Requires
ros-<distro>-navigation2ros-<distro>-nav2-bringupros-<distro>-ros-ign-gazeboros-<distro>-ros-ign-bridge