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easynav_playgrounds repository

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

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 (-)

Packages

Name	Version
easynav_playground_kobuki	0.5.0
easynav_playground_kobuki_description	0.5.0
easynav_playground_kobuki_worlds	0.5.0
easynav_playground_omni	0.5.0
easynav_playground_omni_description	0.5.0
easynav_playground_omni_worlds	0.5.0
easynav_playground_summit	0.5.0
easynav_playground_summit_description	0.5.0
easynav_playground_summit_worlds	0.5.0
easynav_playground_tiago	0.5.0
easynav_playground_tiago_description	0.5.0
easynav_playground_tiago_worlds	0.5.0

README

EasyNav PlayGrounds

Complete Gazebo simulations integrated with EasyNav: a robot, its worlds, their maps and ready-to-run EasyNav configurations. They are the reference configurations of EasyNav, and a good starting point for your own robot’s parameters.

Each playground is split in three packages, so that the robot model and the simulation can be used without EasyNav:

Package	Contents	Depends on
`easynav_playground_<robot>_description`	The robot model: URDF, meshes and controllers	Neither Gazebo nor EasyNav
`easynav_playground_<robot>_worlds`	The Gazebo simulation: worlds, their maps, and the launchers that spawn the robot with its controllers and the ROS–Gazebo bridge	Gazebo, not EasyNav
`easynav_playground_<robot>`	The EasyNav configurations and launchers	EasyNav

Directory	Robot and worlds	EasyNav configurations
`playground_kobuki`	Kobuki (Turtlebot 2) in a small house (indoor reference)	Costmap (RPP, MPPI, MPC, SeReST, MH-AMCL, routes, safety mode), Simple, mapping, multirobot
`playground_summit`	Robotnik Summit XL in an outdoor excavation and an indoor warehouse (outdoor reference)	NavMap and Bonxai (RPP, MPPI, MPC), GPS fusion, warehouse logistics
`playground_tiago`	PAL Robotics’ TIAGo in a small house	Costmap with RPP; NavMap and Bonxai with the laser and the RGBD camera
`playground_omni`	Three- to six-wheel omnidirectional robots in two mazes	Costmap with RPP

For example, with the Kobuki:

ros2 launch easynav_playground_kobuki easynav_costmap_rpp.launch.yaml        # Gazebo, the Kobuki, EasyNav and RViz2
ros2 launch easynav_playground_kobuki_worlds gazebo_sim.launch.yaml          # Only Gazebo and the Kobuki

Supported ROS 2 distributions

The playgrounds need Gazebo Harmonic or newer, so they run on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only these simulations do 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   # or any other playground
source install/setup.bash

Licensing

Each package declares its licenses in its package.xml and explains them in its README. The EasyNav configurations and launchers are by the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0. The robot models and the worlds come from third parties under their own licenses: Yujin Robot’s Kobuki (BSD-3-Clause), Robotnik’s Summit XL (BSD-3-Clause), PAL Robotics’ TIAGo (Apache-2.0), Yohan Prakoso’s omnidirectional robots (MIT), AWS RoboMaker’s small house and small warehouse (MIT-0) and the URJC excavation (GPL-3.0).

CONTRIBUTING