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.

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

Real-time cycles

The configurations run EasyNav’s real-time cycle (use_real_time: true) at 50 Hz (system_node.rt_freq; the default 200 Hz is too tight for this simulation). The recovery system watches it: if many cycles in a row start late, it holds the mission, asks for human assistance and finally cancels it. See “Real-time system setup” in the EasyNav docs.

The maps are in easynav_playground_summit_worlds.

Docker

docker/ builds an image with EasyNav and this playground; see docker/README.md.

Package layout

| Directory | Contents | | — | — |

File truncated at 100 lines see the full file

Changelog for package easynav_playground_summit

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