README.md 914 B

ROS2 Project navigation example

To run the navigation example with your project:

  1. Make sure you have all Ros2ProjectTemplate requirements installed (see template README.md)

  2. Make sure your project is based on Ros2ProjectTemplate

  3. Install ROS2 packages:

    sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard
    
  4. Run your project in O3DE editor

  5. Open DemoLevel

  6. Start the simulation by clicking the Play Game button or pressing CTRL+G

  7. Source ROS2 (humble version is assumed):

    . /opt/ros/humble/setup.bash
    
  8. Start navigation stack:

    cd examples/slam_navigation/launch
    ros2 launch navigation.launch.py
    
  9. Set robot target goal. Use RViz2 GUI to set the goal by using the 2D Goal Pose tool (upper toolbar).