EasyNav Omni Playground

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
kilted

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
lyrical

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

No version for distro github showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

EasyNav Omni Playground

EasyNav configuration for three- to six-wheel omnidirectional robots in Gazebo Harmonic. The default launch starts the 3w_v2 robot in maze2, together with EasyNav and RViz2.

Demo

The omni playground is made of three packages:

Package	Contents
`easynav_playground_omni_description`	The robots’ models: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_omni_worlds`	The Gazebo simulation: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_omni`	The EasyNav configuration and launcher

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_omni
source install/setup.bash

Launch EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

The world launch argument selects both the Gazebo world and its matching EasyNav map. The available options are maze1 and maze2 (default):

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze1

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml world:=maze2

Other launch arguments, params_file, rviz_config, map_override_file and robot, can also be overridden.

The robot argument chooses the robot (3w, 3w_v2, 4w, 5w, 6w; see easynav_playground_omni_description), for example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

All robot models share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Package layout

Directory	Contents
`launch/`	EasyNav launch file, in YAML
`params/`	EasyNav parameters, and the map of each world (`map_overrides/<world>/map.yaml`)
`rviz/`	RViz2 configuration

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The simulator it uses is Yohan Prakoso’s: see easynav_playground_omni_worlds and easynav_playground_omni_description.

CHANGELOG

Changelog for package easynav_playground_omni

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the three- to six-wheel omnidirectional robots: a costmap with RPP configuration
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_playground_omni_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_omni` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_omni package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with omnidirectional robots: EasyNav configurations and launchers for the omnidirectional robots simulation (costmap with RPP).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico