Ionic demo world and resources
Usage:
git clone https://github.com/gazebosim/ionic_demo
cd ionic_demo/ionic_demo/worlds
gz sim -v 4 ionic.sdf
In Harmonic:
sudo apt install ros-rolling-ros-gz
This demo requires at least ROS 2 Jazzy.
Create a new colcon workspace, install dependencies and build the packages,
mkdir -p ~/ionic_ws/src
cd ~/ionic_w/src
git clone https://github.com/gazebosim/ionic_demo
source /opt/ros/jazzy/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/ionic_ws/
colcon build
Launch the demo,
source ~/ionic_ws/install/setup.bash
ros2 launch ionic_demo ionic_navigation_demo_launch.py headless:=0
On rviz, initialize the position at the origin towards the right of the map, using the 2D Pose Estimate button.
Navigation commands can now be sent via the Nav2 Goal button.
- If there are communication/middleware related issues while running the demos, we recommend trying again using a different RMW implementation, for example
rmw_cyclonedds_cpp.
- package descriptions
- fleet adapter