EasyNav Kobuki Playground

EasyNav configurations for a Kobuki (Turtlebot 2) in a Gazebo Harmonic simulation of the AWS RoboMaker small house. This is the indoor reference playground of EasyNav.

The Kobuki playground is made of three packages:

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_kobuki
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, the Kobuki, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_kobuki easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Costmap configurations

All of them use the maps/home2.yaml occupancy map.

Simple map configurations

All of them use the maps/home.map simple map.

Launch arguments

For example, to run headless with your own parameters:

ros2 launch easynav_playground_kobuki easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Safety mode

easynav_costmap_rpp_safe.launch.yaml runs EasyNav in safety mode with the process memory locked. It needs real-time limits (rtprio >= 80 and, for memory locking, memlock unlimited); otherwise EasyNav does not start. See “Real-time system setup” in the EasyNav docs.

It also publishes an “all clear” safety status on /easynav_safety_status, standing in for a safety PLC or scanner. Launch it with safety_channel:=false to publish your own status, for example a protective stop.

The occupancy map (home2.yaml) is in easynav_playground_kobuki_worlds; the Simple map (maps/home.map) and the routes (maps/routes_1.yaml) are EasyNav formats, so they are in this package.

Multirobot

Two Kobukis, r1 at (0, 0) and r2 at (2, 1), each with its own EasyNav and RViz2:

ros2 launch easynav_playground_kobuki easynav_multirobot.launch.yaml

File truncated at 100 lines see the full file

Changelog for package easynav_playground_kobuki

0.5.0 (2026-10-08)

• First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the Kobuki (Turtlebot 2): costmap (RPP, MPPI, MPC, SeReST, MH-AMCL, routes, safety mode), Simple, mapping and multirobot configurations
• Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez