To run simulation

Clone this repo

git clone --recurse-submodules -j8 [email protected]:kulkarni-raunak/nav2_ros_gz.git

Add .bash_history inside nav2_ros_gz/

touch .bash_history

Install dependencies (already done in the dev container)

Inside nav2_ros_gz/

rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build

colcon build --symlink-install --packages-skip nav2_system_tests

Source or open another terminal tab (as already sourced in the dev container bashrc)

source /nav2_ros_gz/install/setup.bash

Launch

ros2 launch nav2_bringup tb3_gz_simulation_launch.py headless:=False

Launch [To work with wamv]

(Note1: waveglider is still pending)

(Note2: Map and Mask path will needed to be modified depending from which devcontainer/folder you'll call them)

For World = Sydney regatta

ros2 launch nav2_bringup wamv_nav2_gz_simulation_launch.py params_file:=/nav2_ros_gz/src/navigation2/nav2_bringup/params_imarex/nav2_params.yaml use_sim_time:=true map:=/nav2_ros_gz/src/navigation2/nav2_bringup/maps/sydney_regatta.yaml mask:=/nav2_ros_gz/src/navigation2/nav2_bringup/maps/keepout_mask.yaml

For World = Port of Bremen

ros2 launch nav2_bringup wamv_nav2_gz_simulation_launch.py params_file:=/nav2_ros_gz/src/navigation2/nav2_bringup/params_imarex/nav2_params.yaml use_sim_time:=true map:=/scenario-simulation/src/submodules/katamaran_nav2_bt/maps/Port_bremen/Port_Bremen_Polygon.yaml mask:=/scenario-simulation/src/submodules/katamaran_nav2_bt/maps/Port_bremen/avoid_area_01.yaml 

Refrences

Follow migration of gazebos_ros_pkgs to ros_gz guide to tweak the packges dependent on gazebo_ros in nav2/navigation2 . Note: May not support Gazebo garden.