EasyNav Summit Playground

EasyNav configurations for a Robotnik Summit XL in Gazebo Harmonic, in two worlds: the URJC excavation, an outdoor 3D terrain, and a small indoor warehouse. This is the outdoor reference playground of EasyNav.

The Summit 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_summit
source install/setup.bash

Launch EasyNav

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

ros2 launch easynav_playground_summit easynav_bonxai_amcl.launch.yaml

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

NavMap configurations

All of them plan with A* over the NavMap (maps/excavation_urjc.navmap).

Warehouse configuration

easynav_warehouse_amcl.launch.yaml runs the Summit XL in the AWS RoboMaker small warehouse (worlds/small_warehouse.world), an indoor world with shelves, pallets and clutter:

ros2 launch easynav_playground_summit easynav_warehouse_amcl.launch.yaml

The NavMap is flat, built from a 2D occupancy grid. Its obstacles filter keeps the static map and adds the points the sensors see within 3 m and below 1.2 m (max_range, max_height); the inflation filter (radius 2.0 m, scaling 1.5) keeps paths in the middle of the aisles. The RViz view (rviz/easynav_warehouse.rviz) shows the inflated layer. Localization error is about 0.15 m.

Parking garage configuration

easynav_parking_garage.launch.yaml runs the Summit XL in a parking garage (worlds/parking_garage.world) with three floors stacked over the same footprint and linked by ramps:

ros2 launch easynav_playground_summit easynav_parking_garage.launch.yaml

Both maps come from simulated 3D lidar scans of the world’s collision mesh (a VLP-16 0.8 m above the ground every 2 m on floors 0-2, so hidden faces never enter the map): maps/parking_garage.pcd keeps one point per 0.1 m voxel (the centroid), in the map frame with z = 0 on the ground floor under the spawn point. The NavMap meshes it with navmap_ros::from_points at 0.4 m: floors 0, 1 and 2 are a single surface that overlaps itself in XY and connects through the ramps, so A* plans between floors; the ramps (2.9 m between their side walls) leave about 0.9 m of clearance to the robot’s 0.7 m inscribed radius. The roof has no ramp in the model and is a separate, unreachable surface. The Bonxai map keeps one point per occupied 0.3 m voxel (floors, walls, pillars and ceilings). The obstacles filter ignores points above 1.2 m, so the ceiling of each floor is not an obstacle.

Localization

In the excavation, the terrain is smooth and the Bonxai cloud is sparse, so NavMap AMCL has little to correct against: it keeps the heading from the IMU, but its position can drift 0.5–1 m from the true one. The GPS configuration is the accurate one outdoors (about 0.15 m): its map frame is the Gazebo world’s (latitude_origin/longitude_origin are the world’s spherical_coordinates).

Launch arguments

For example, to run headless with your own parameters:

ros2 launch easynav_playground_summit easynav_bonxai_amcl.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

File truncated at 100 lines see the full file

Changelog for package easynav_playground_summit

0.5.1 (2026-10-21)

• Parking garage world
• NavMap navigation in 3D: local NavMap, obstacle memory, terrain-aware planning
• Localization and goal parameters for 3D (NavMap AMCL)
• Enable cpplint and copyright linters
• Contributors: Francisco Martín Rico

0.5.0 (2026-10-08)

• First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the Robotnik Summit XL: NavMap and Bonxai (RPP, MPPI, MPC), GPS fusion and warehouse configurations
• Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez