Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/taherfattahi/ros2-slam-auto-navigation
Autonomous Mapping and Navigation Using SLAM Toolbox, Nav2, and Rviz Visualization
https://github.com/taherfattahi/ros2-slam-auto-navigation
autonomous-driving autonomous-robots gazebo navigation navigation2 robotics ros2 ros2-humble rviz2 slam slam-toolbox wheel
Last synced: 28 days ago
JSON representation
Autonomous Mapping and Navigation Using SLAM Toolbox, Nav2, and Rviz Visualization
- Host: GitHub
- URL: https://github.com/taherfattahi/ros2-slam-auto-navigation
- Owner: taherfattahi
- License: mit
- Created: 2024-12-14T17:35:29.000Z (about 1 month ago)
- Default Branch: master
- Last Pushed: 2024-12-14T18:21:15.000Z (about 1 month ago)
- Last Synced: 2024-12-14T18:39:15.761Z (about 1 month ago)
- Topics: autonomous-driving, autonomous-robots, gazebo, navigation, navigation2, robotics, ros2, ros2-humble, rviz2, slam, slam-toolbox, wheel
- Language: Python
- Homepage:
- Size: 22.4 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# ROS2 SLAM Autonomous Navigation with SLAM Toolbox and Nav2
Use the SLAM Toolbox to generate a map of the environment, then utilize the Nav2 stack for autonomous navigation within that mapped space. Rviz provides visualization of the robot, its surroundings, and ongoing navigation tasks.
## Demo Video
[](https://youtu.be/-g2nmHqZfgc?si=NTKtegcQCZkt2e99)
## Overview
This project provides:
- **Gazebo** simulation environment.
- **ROS2** Control integration to handle the robot’s joints and controllers.
- **SLAM Toolbox** for online (asynchronous) map building as the robot explores.
- **Nav2** stack to plan paths and autonomously navigate in the mapped environment.
- **Rviz2** visualization for monitoring robot state, the map, and navigation plans.
## Transform frame
## Dependencies and Setup
- Install ROS 2 Humble - [Read here](https://docs.ros.org/en/humble/Installation.html)
- Create Workspace - [Read here](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
- Install XACRO
```sh
sudo apt install ros--xacro
```
- Gazebo ROS Packages
```sh
sudo apt install ros--gazebo-ros-pkgs
```
- ROS2 Control
```sh
sudo apt install ros--ros2-control ros--ros2-controllers ros--gazebo-ros2-control
```
- SLAM Toolbox
```sh
sudo apt install ros--slam-toolbox
```
- Nav2 and Twist Mux
```sh
sudo apt install ros--navigation2 sudo apt install ros--nav2-bringup sudo apt install ros--twist-mux
```
## Building the Package
After cloning this repository into your workspace’s ```src``` directory:
```sh
cd
colcon build
source install/setup.bash
```
## Usage
1. **Launch the Simulation**
Run the Gazebo simulation environment and spawn the robot:
```sh
ros2 launch ros2_slam_auto_navigation launch_sim.launch.py world_file:=/home/taher/ros2_ws/src/ros2-slam-auto-navigation/worlds/simple.world
```
2. **Launch SLAM and Navigation**
In a new terminal (with the workspace sourced), launch the SLAM Toolbox and Nav2 bringup with Rviz:
```sh
ros2 launch ros2_slam_auto_navigation slam_navigation.launch.py slam_params_file:=/home/taher/ros2_ws/src/ros2-slam-auto-navigation/config/mapper_params_online_async.yaml use_sim_time:=true
```
3. **Use Rviz2 for Visualization:** Rviz2 should start automatically from the second launch file. In Rviz2:
- You can visualize the robot’s pose, sensors, and the map being built.
- Interactively set navigation goals using the "2D Nav Goal" tool once the map and localization are stable.
4. **Autonomous Navigation:** Once you have a map (even partial), you can send navigation goals to the robot via Rviz. Nav2 will compute a path and command the robot to reach the desired destination.
## Launch Simulator-SLAM-Navigation-RViz commands individually
1. Launching the Simulation Environment
```sh
ros2 launch ros2_slam_auto_navigation launch_sim.launch.py world_file:=/home/taher/ros2_ws/src/ros2-slam-auto-navigation/worlds/simple.world
```
2. Starting the SLAM Toolbox (Online, Asynchronous Mode)
```sh
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=/home/taher/ros2_ws/src/ros2-slam-auto-navigation/config/mapper_params_online_async.yaml use_sim_time:=true
```
3. Initializing the Navigation Stack
```sh
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
```
4. Opening RViz with Navigation Visualization
```sh
ros2 run rviz2 rviz2 use_sim_time:=True -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz
```
## Troubleshooting
- **Simulation Issues:**
Ensure that Gazebo, ROS2 Control, and joint publisher packages are correctly installed.
- **TF or Robot Description Issues:**
Check the URDF/Xacro files and the rsp.launch.py to ensure the robot description is being published correctly.
- **Navigation Errors:**
Confirm that SLAM Toolbox is running and providing a map. Ensure that Nav2 parameters match your robot’s configuration (e.g., footprint, sensor sources).
## Contributing
Contributions are welcome. If you find a bug or have a feature request, please open an issue or submit a pull request.
## Resources
- Robot Operating System [(ROS 2 Humble)](https://docs.ros.org/en/humble/index.html)
- ROS 2 [tf2](https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html)
- [ROS 2 Navigation](https://github.com/ros-navigation/navigation2/) Framework and System
- [Slam Toolbox](https://github.com/SteveMacenski/slam_toolbox) for lifelong mapping and localization in potentially massive maps with ROS