/nav2_ros_gz

An experimental configuration for NAV2 , ros2 humble and gazebo garden

Primary LanguageDockerfile

To run simulation

Clone this repo

git clone --recurse-submodules -j8 git@github.com:kulkarni-raunak/nav2_ros_gz.git

Add .bash_history inside nav2_ros_gz/

touch .bash_history

Install dependencies (already done in the dev container)

Inside nav2_ros_gz/

rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build

Build Everything!! Takes about 30~40 mins!!

colcon build --symlink-install --packages-skip nav2_system_tests

Now you can only build the package that you made changes to and save time. i.e.,

colcon build --symlink-install --packages-select nav2_bringup
source /nav2_ros_gz/install/setup.bash

or just open another terminal tab (this WS is already sourced in the dev container's ~/.bashrc)

Launch

ros2 launch nav2_bringup tb3_gz_simulation_launch.py headless:=False

Refrences

Follow migration of gazebos_ros_pkgs to ros_gz guide to tweak the packges dependent on gazebo_ros in nav2/navigation2 . Note: May not support Gazebo garden.