mahfuzhasanreza / ros2-nav2

My documentation for navigation of Robot Operating System.

ROS2-Nav2

Following Steps

• Install Nav2 on ROS2 Humble
• Generate a map with SLAM
• Make a robot navigate from point A to point B using the map

Requirement

• Install ROS2 Humble on Ubuntu 22.04
• No need to buy any hardware
• Gazebo simulation

Pre-requirement Steps

• Install Navigation2 and TurtleBot3

  sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-turtlebot3*

• Specify the TurtleBot3 model by opening bashrc via gedit ~/.bashrc and save it by adding this line

  export TURTLEBOT3_MODEL=waffle

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Following Steps

1. Create ros2_nav2_ws folder, and go to the folder by cd ros2_nav2_ws/
2. Create src folder, and go to the folder by cd src
3. ros2 pkg create --build-type ament_cmake --node-name my_node my_pkg
4. cd my_pkg/
5. code .
6. Create urdf folder, and make a file named my_robot.urdf
7. Write the urdf code
8. ros2 launch urdf_tutorial display.launch.py model:=/home/mahfuz/ros2_nav2_ws/src/my_pkg/urdf/my_robot.urdf