o3de-extras/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md

ROS 2 Project example

With this example you will learn how to run ROS 2 navigation with a project created with this template.

These instructions assume that you have created and built your project following the Template README.

ROS 2 navigation stack is a set of packages which can deliver robot navigation almost out-of-the-box following configuration for your specific robot. In other cases, it can serve as a great basis to build your custom robot navigation.

How to run the example

Install navigation packages

To run the navigation example with your project, you need to install ROS 2 navigation stack packages.

sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan

Start the simulation

1. Run your project in O3DE editor and open the only level.
2. Start the simulation by clicking the Play Game button or pressing CTRL+G

Launch the navigation stack

Open a bash console terminal (always make sure your ROS 2 is sourced!) and run:

cd #{O3DE_EXTRAS_HOME}/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch
ros2 launch navigation.launch.py

You should see RViz2, a ROS 2 visualization tool.

Set the goal

In RViz2, set robot target goal by using the 2D Goal Pose tool (upper toolbar). The robot in your simulation should be on its way to the goal! You will also notice it is building a map.

Use O3DE to control the robot

The robot can also be controlled using O3DE interface. You can use two different steering tools for debugging. Firstly, a component to translate signals from the computer keyboard into linear and angular acceleration is added to the robot. Hit cursor keys and see the movement. Secondly, the project template implements the sample ROS 2 publisher that lets sending goal positions from O3DE to the external navigation stack. Next, the navigation stack will calculate respective Twist messages to control the robot. Press the Home key to enable ImGui debug interface sending the robot to one of the predefined goals. Press the key again to hide the interface and see the robot moving. Remember to keep the ROS 2 navigation stack switched on - selecting the goal in O3DE triggers the same mechanisms as setting the target in RViz2 window.