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Nav2 in ROS2

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136 views1 page

Nav2 in ROS2

Uploaded by

RizwanCrazz
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Configure ROS2 Nav2 (Navigation Stack 2) to support omnidirectional motion trajectories

# Pseudocode for Configuring ROS2 Nav2 for Omnidirectional Motion Trajectories

# 1. Install necessary packages (e.g., Nav2, SLAM_toolbox)


(Can use an open-source robot like ZM Mecanum robot with omnidirectional capabilities for reference

# 2. Set up the robot's hardware (e.g., LiDAR, IMU, wheel encoders)


(Verify that sensor data is being published on respective rostopics with corresponding message type)

# 3. Configure the robot's base controller for omnidirectional motion if already not set-up or pre-built
- Use a suitable controller (e.g., diff_drive_controller, holonomic_drive_controller)
- Set the appropriate parameters for wheel velocities, wheel pairs and steering angles

# 4. Set up Nav2 stack:


- Install any additional dependencies for Nav2 and related packages beyond Step-1 above, as needed
- Configure the robot's base frame, odom frame, and map frame

# 5. Configure the planner and controller plugins for omnidirectional motion:


- Select an appropriate global planner (e.g., nav2_navfn_planner)
- Configure the local planner (e.g., dwa_local_planner) for holonomic behavior
- Tune planner and controller parameters for your robot's kinematics

# 6. Run SLAM (Simultaneous Localization and Mapping) to create an initial map.


- Use slam_toolbox or other SLAM libraries compatible with Nav2
- Ensure the map covers the entire environment and supports omnidirectional motion

# 7. Save the generated map for future use in a suitable format as a .pgm or .yaml file)

# 8. Start the Nav2 stack:


- Launch the nav2_bringup package
- Set the initial pose estimate using the saved map

# 9. Monitor navigation performance and iterate on parameters as needed


- Test omnidirectional trajectories (e.g., circular paths, lateral movements)
- Adjust planner and controller settings for optimal behavior

Further, it is necessary to configure the sensors , planners and the controllers to fine-tune for the hardware
and the corresponding target environment during implementation.

Reference: Nav2 documentation and tutorials

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