Using ROS2 Jazzy and Gazebo Harmonic for autonomous navigation simulation of a robot car.

This project is based on the BME MOGI - ROS course, with the camera part removed, and the mapping and navigation features retained. For further learning, please refer to https://github.com/MOGI-ROS.

This project is for personal learning purposes only. If there are any copyright infringements, please contact us for removal.

You need to do this:

1.Run the following command to clone the car_nav2 repository to your local machine:

git clone https://github.com/2024828/car_nav2.git

2.The file uses some Gazebo models, which you can download from:https://drive.google.com/file/d/1tcfoLFReEW1XNHPUAeLpIz2iZXqQBvo_/view.

If you want to learn more about Gazebo models, please visit:https://github.com/MOGI-ROS/Week-3-4-Gazebo-basics.

Make sure to let Gazebo know about their location by running:

export GZ_SIM_RESOURCE_PATH=~/gazebo_models

3.Build the package and run:

colcon build
. install/setup.bash
ros2 launch car_nav2 spawn_robot.launch.py

Open a new terminal and run:

export GZ_SIM_RESOURCE_PATH=~/gazebo_models
. install/setup.bash
ros2 launch car_nav2 navigation_with_slam.launch.py

You can use the 2D goal pose in the RViz2 toolbar to control the robot's movement and mapping. The robot will automatically plan the path.

You can also click the + on rviz2 to add the NAV2 Goal tool. Then, click on the Waypoint/NavThrough Poses Mode under the Nav2 plugin. You can use the Nav2 Goal to set multiple waypoints in sequence. By clicking the StartWaypoint Following at the bottom, you can start waypoint navigation, and the robot will move towards the preset target locations in order.