EasyNav Kobuki Playground: worlds

Gazebo Harmonic simulation of a Kobuki (Turtlebot 2) in the AWS RoboMaker small house: the world and its models, the map of the house, and the launchers that start Gazebo and spawn one or several Kobukis (robot state publisher and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_kobuki adds the navigation.

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_worlds
source install/setup.bash

Simulation

To run Gazebo and the Kobuki without EasyNav or RViz2:

ros2 launch easynav_playground_kobuki_worlds gazebo_sim.launch.yaml

ros2 launch easynav_playground_kobuki_worlds multirobot_gazebo_sim.launch.yaml

To add a robot to a running simulation, use kobuki.launch.yaml with a namespace and a spawn pose (x, y, Y…).

The simulated Kobuki publishes /scan_raw, /odom, /joint_states and TF, and listens on /cmd_vel. With camera:=true it also publishes /rgbd_camera/{image,depth_image,points,camera_info}.

Package layout

Authors and licensing

The launchers, bridge configuration and map were developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE.

The small house world (worlds/, models/, photos/) comes from aws-robomaker-small-house-world (ros2 branch), under the MIT No Attribution license; see models/LICENSE. Only the models the world uses were copied.

Changelog for package easynav_playground_kobuki_worlds

0.5.0 (2026-10-08)

• First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the Kobuki (Turtlebot 2) in the AWS RoboMaker small house, with their maps and the launchers that spawn the robot, without EasyNav dependencies
• Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez