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easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

Package symbol

easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

Package symbol

easynav_playground_omni_worlds 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

API Docs
Browse Code

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

Package symbol

easynav_playground_omni_worlds 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

API Docs
Browse Code

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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

Package Summary

Version 0.5.0
License MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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 MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange

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

easynav_playground_omni_worlds 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 MIT
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

Gazebo (Harmonic or newer) simulation of omnidirectional robots for the EasyNav playgrounds: two mazes and their maps, the kinematics node, and the launcher that spawns the chosen robot with its controllers and the ROS-Gazebo bridge.

Maintainers

  • Francisco Martín Rico

Authors

  • Yohan Prakoso
  • Francisco Martín Rico
playground_omni/easynav_playground_omni_worlds/README.md

EasyNav Omni Playground: worlds

Gazebo Harmonic simulation of three- to six-wheel omnidirectional robots in two mazes: the worlds, their maps, the kinematics node (wheel commands and odometry from the velocity command), and the launcher that starts Gazebo and spawns the chosen robot (robot state publisher, ros2_control controllers and ROS–Gazebo bridge). It does not depend on EasyNav: easynav_playground_omni 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_omni_worlds
source install/setup.bash

Simulation

To run only Gazebo and a robot (3w, 3w_v2, 4w, 5w, 6w) in a maze (maze1, maze2):

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

The simulated wheel command limits are ±35 rad/s, enough for 0.6 m/s.

Package layout

Directory Contents
launch/ gazebo_sim.launch.yaml
src/ kinematics node
scripts/ Test scripts for the motors
config/gz_bridge/ ROS–Gazebo bridge topics
maps/ Occupancy grids of the two mazes
worlds/ maze1.sdf, maze2.sdf
rviz/ RViz2 configurations for the simulation

Authors and licensing

The mazes, maps, bridge configuration, kinematics node and test scripts are Yohan Prakoso’s original simulator: Copyright (c) 2025 Yohan Prakoso, under the MIT license; see LICENSE. The launcher was written by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0; see LICENSE-APACHE.

CHANGELOG

Changelog for package easynav_playground_omni_worlds

0.5.0 (2026-10-08)

  • First release, in the easynav_playgrounds repository: Gazebo (Harmonic or newer) simulation of the three- to six-wheel omnidirectional robots in two mazes, with their maps and the launchers that spawn the robot, without EasyNav dependencies
  • Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

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_worlds at Robotics Stack Exchange