Nav 2 in ROS 2 with Commander API for Python
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- Опубліковано 8 вер 2024
- For 2D navigation of our robot we can send goals using a python scripts with Commander API. It becomes really easy in usage for complete autonomy of our robots.
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That is the exact tutorial I was searching for! Thanks!
Glad I could help!
awesome!!!! Thank you sincerely bro..
Is there any plan to use other planner like teb ?
You're most welcome
Not yet . But will put it in queue
❤️♦️
:)
Thanks for that ! You might want to rename it for future use.
Sure :D
Great video. I was wondering why did you need to use the waypoints to find the robot location in the map? Because I can see that you are using AMCL localization which provides the transforms from /map to /odom after the particles are localized? Am I missing something. Thanks you.
Good question . In a project i experienced this
- Created a map with let say robot initial position (1,2,0) -> xyz
- Started NAV2 but robot this time is some where else not (1,2,0) ( in almost all real world scenarios this happen ).
- Odom gives (0,0) but for navigation stack on tha map you are at some other location .
Great work, do you plan to use an aerial robot like the hector or any other model to do autonomous navigation to a goal in ros2? That would be great!
Yes . it is on the list . Hector is not ported to ROS2 . Current solution is ignition but still no easy drone go to go solution.
Thanks for the video Muhammad! I was wondering if there is any reason to use the SimpleCommander API only via script. Would it make sense to write a ROS2 node that inherits the methods of the BasicNavigator class in order to design experiments that are repeatable or is it better to write a script? Thank you again
yes you are on point , Inhereting the navigation class will give you functionality directly into your main node . you have API for Python and CPP both
- I used explicit python node for simple cmmander api to keep things simple and easy to understand. in this video .
Hi do you know how to integrate real Velodyne data (VLP-16) /scan data with NAV2? Iam able to visualize my real Velodyne data on Rviz. However when I switch the real Gazebo plugin laser Sensor for the real VLP and launch Nav2 nodes, Rviz and Gazebo crashes and close. Some tutorial how to map with real VLP? Thanks
not yet
hello !
could u show me how to download simpleCommander api please , i got stuck with it
you have to install nav2 and simple commander api will be installed automatically
@@robotisim actually, I use ros2 foxy and this version do not have commander API . If you don't mind could you give me a way which I can use commander API with foxy. Thank you in advance .