navigation2_ignition_gazebo_turtlebot3

Using Nav2 for navigating a simulated Turtlebot 3 in the Ignition Gazebo simulator.

ROS_LOCALHOST_ONLY=1 TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3 simulation.launch.py to launch simulation, nav2, and rviz2 simultaneously.

/odom topic, odom frame, and /odom/tf (tf topic) are defined in model.sdf. The transformation of base_footprint in the odom frame is published through /odom/tf. /odom topic publishes the transformation of odom frame in the map frame.

Use ros2 run tf2_tools view_frames to see the tf frame relations.

Ign gazebo publishes joint_states, which is then translated to ROS2 topic via ros_ign_bridge, and consumed by robot_state_publisher (a ROS2 node) for computing/publishing most of tf.

/odom/tf is remapped to /tf.

Ign gazebo topics are translated to/from ROS2 topics via ros_ign_bridge.

nav2_bringup is called to initiate basic services and configurations.

Tested with Ignition Gazebo Fortress and ROS2 Humble.

Requires

• ros-<distro>-navigation2
• ros-<distro>-nav2-bringup
• ros-<distro>-ros-ign-gazebo
• ros-<distro>-ros-ign-bridge