ROS2 Nav2 - Navigation Stack in 1 Hour [Crash Course]

День тому

This ROS2 Nav2 crash course will get you started with the Navigation Stack in no time. Step by step instructions to perform SLAM and Navigation, using a simulated robot.
👉 Complete Nav2 Course 🔥 rbcknd.com/nav2 🔥
✅If you need to install ROS2 Humble: • ROS2 - Install ROS2 Hu...
⏱️ Chapters
(00:00) Intro
(01:47) What is Nav2?
(04:51) Install Nav2 for ROS2 Humble
(07:29) Make your robot move in the environment
(16:50) Generate a map with SLAM
(28:49) The map
(35:54) Quick fix and DDS issue with Nav2
(42:11) Make the robot navigate using the map
(54:23) Waypoint follower
(58:53) How to go further?
👉 Get all my courses here 👉 rbcknd.com/all-courses
Twitter: / roboticsbackend
More Free Tutorials: roboticsbackend.com

КОМЕНТАРІ: 74

@RoboticsBackEnd Місяць тому

Thank you for watching! 🔥 To go further with Nav2, check out this complete and step-by-step course: 👉 rbcknd.com/nav2

@williambaltus3754 Місяць тому

Thanks Eduard! I have this course and watching. It seems that I do not have gazebo installed (I believe I have ignition gazebo fortress for ROS2 Humble with Ubuntu 22.04). I am on raspberry pi 4 for reference as well. For some reason, like I said I do not have turtlebot3_gazebo, I have all other packages but that one, so how can I proceed with these tutorials or gazebo and turtlebot at all? Please advise it would be very kind of you.

@mrMamaboy17 Рік тому

Once again, an awesome course. I cannot wait for the upcoming ones!

@teetanrobotics5363 Рік тому

Amazing course. Please make more such marathons

@mohammedsajjad4975 Рік тому

Amazing course .Thank a lot .Great work✌

@ManhDragon Рік тому

Thanks you for this course

@mohammedsajjad8863 Рік тому

Thanks a lot for this course .Can u make a vedio about the internal working of packages it would be helpful

@vasudevkesharwani8360 8 місяців тому

amezing work ♥

@chugoh 6 місяців тому

Thanks for the content, do you have any recommendation what stack to use for outdoor navigation including some mild uneven ground or slopes?

@user-ng9zs8cs6e 2 місяці тому

Really good

@salimzam7784 Рік тому

شكرًا

@muhammadyousufeisa3982 4 місяці тому

Thanks for such an amazing content. Kindly suggest some books for the understanding of ROS and it all aspects like gazebo and rviz etc.

@user-ko5zg2ux1m Рік тому

cool!

@mahamaneirochapiou4388 Рік тому

what a luck, i'm exactly looking for this kind of cours, thanks

@yanniscoderey4355 9 місяців тому

Hello, thank you for the video, I could follow it quite easily with ros2 galactic and it worked well. I just had the same problem with the map not showing on rviz2. The problem, a simple one, was just that the path to map.pgm was wrong on the map.yaml file, as it was maps/map.pgm instead of map.pgm. I don't know if this was fixed, but just posting this here in case someone else is in the same situation.

@RoboticsBackEnd 9 місяців тому

Thanks for sharing! Yes, the path can be tricky in the yaml file. Better to double check it (especially if you move the files around afterwards)

@huseynhaydarov 9 місяців тому

Hi, the hard part to me is that how to run all these into docker container, nano jetson comes with ubuntu 18.04 preinstalled, is there any advise you could recomment, am new on it and completely lost

@Sam-xj8os 19 днів тому

Hi Thank you so much for the explanation. I would like to make a waypoint following node, which when i run that node my robot go to the 3-4 different points and keep do the same thing "loop" Could you please show me how to do this Thanks again for the amazing video

@user-th8vf1xd7n Рік тому

Hi Edouard, I am working on Nav2, ROS2 foxy with path planning with Turtlebot 3 Burger. Could you suggest some videos. Many Thanks

@Sing-ic7vt 6 днів тому

Hello teacher, can I use turtlebot3 ROS2 humble to work on Autonomous Driving?

@thomasluk4319 Рік тому

Okay, what if I have to integrate Nav2 in other robot? What should I prepare? I mean before all these features, where to find the config and change it accordingly?

@MrEngineer_ 2 місяці тому

Hi, when using the launch file at 11:15 , I get this error : Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory? How to resolve this ? Environment can open but the turtlebot3 is not spawning.

@sumitthantharate7806 Рік тому

Hi Edouard, I am working on Nav 2, DWB local_planner and standardTrajectortGenerator. Is there any course of yours that would be helpful for me?

@RoboticsBackEnd Рік тому

Unfortunately as for now I don't have any courses targetting plugins for Nav2, maybe in the future!

@mr.p215 8 місяців тому

What is your opinion of slam_toolbox for mapping compared to turtlebot_cartographer?

@RoboticsBackEnd 8 місяців тому

From what I've seen, slam_toolbox works much better, and is the way to go when you start doing SLAM for your own robot. The Turtlebot Cartographer is good however for first time users, as the barrier to entry is very low and you can experiment quickly - that's why I'm using it in the crash course, and then switch to slam_toolbox later (this, in the full course).

@user-ll5li6rm7p 9 днів тому

Can I use GPS coordinates as waypoint too?

@dinizoliveira6995 9 місяців тому

Hi, Congrats for your course!! I have ROS2 Iron installed. I got stuck at Gazebo installation part : I am not able to open Gazebo after installing it (I used "sudo apt install ros-iron-navigation2 ros-iron-nav2-bringup"). I already tried to install Ros2 humble, but I had same issue (It just doesn't open . No error msgs). Please help me

@RoboticsBackEnd 8 місяців тому

Maybe try with "sudo apt install ros-iron-gazebo*" ? One thing also is you're using Iron, I'm not sure if everything is working well. I usually stay on LTS versions (Humble for now, Jazzy in 2024), where I know everything is supposed to be stable and working.

@user-er8if3yo7h 6 місяців тому

hello, thanks you for this video. I have a question. I have ROS2 Humble installed, but the system install the ignition gazebo, can I run Nav2 and the turtlebot simulation with ignition gazebo? or shall I install other version of gazebo ?

@RoboticsBackEnd 6 місяців тому

You might try and see if it works! I have not tested this course with Ignition Gazebo yet, only Gazebo Classic (or whatever they call it, super confusing)

@HammerArm99 Місяць тому

does anyone know if the issue with the DDS was fixed?

@trongdungmai8125 2 місяці тому

i can't install ros-humble-turtlebot3* in Ubuntu 22.04, this is the error i got when i installed it, can you help me to solve this? thank you "The following packages have unmet dependencies: gz-tools2 : Conflicts: gazebo (>= 11.0.0) but 11.10.2+dfsg-1 is to be installed E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages."

@RoboticsBackEnd Місяць тому

Try to remove all gazebo packages and ros-humble-gazebo*, then reinstall

@chiadika 3 місяці тому

hello i am having trouble. i am using ros2 on a VM and i have manually installed gazebo using 'sudo apt-get install ros-humble-ros-gz', but when i run gazebo in the terminal, it doesn't launch. do you have any suggestions?

@RoboticsBackEnd 3 місяці тому

First, you might have to source Gazebo with "source /usr/share/gazebo/setup.bash" and second, better not to use Gazebo in a Virtual machine, it probably won't work correctly (definitely not on VirtualBox, you can try with VMware Workstation)

@chiadika 3 місяці тому

@@RoboticsBackEnd I'll try sourcing it. However, I can only use a virtual machine. I have an M2 MacBook so I was using UTM virtual machine

@chiadika 3 місяці тому

@@RoboticsBackEnd I was only able to get ignition gazebo to install properly. Is that equivalent? I've looked online and none of the common sudo install commands work

@mahamaneirochapiou4388 Рік тому

i'm actualy using ros2 foxy, all i have to do is to replace distro ''Humble'' by ''foxy'', right?

@RoboticsBackEnd Рік тому

Yes, exactly. However if you go further with the Nav2 stack you will quickly be limited because most of the new development has been only added into Humble, not Foxy.

@timandersen8030 6 місяців тому

How to get the robot to do automatic mapping of the place without having to manually control it with teleop??

@seremetvlad 3 місяці тому

Do something like frontier exploration (always go to the closest unexplored tile in the map. Find it with something like BFS)

@timandersen8030 3 місяці тому

@@seremetvlad Ok, thank you!

@RICO-sr2fn Рік тому

I tried the same, but I can't load saved map into rviz or nav. I am using foxy and installed foxy version of it

@RoboticsBackEnd Рік тому

Could you try with Humble instead? Lots of bug solved since Foxy Also, I'd make sure to use a powerful computer and avoid VMs if possible.

@RICO-sr2fn Рік тому

@@RoboticsBackEnd Solved only using slam toolbox. Rviz=>panel=>add panel=>slam toolbox plugin and export/import map. Didn't work in yaml of config files.

@adityajambhale915 8 місяців тому

hello sir@@RoboticsBackEnd , I am currently using virtual machine, is there any way it will work on VMs?

@HAONANCAI 6 місяців тому

Hello teacher, is it ok if I use ubuntu20.04 with ros2-foxy?

@RoboticsBackEnd 6 місяців тому

NOPE, I only recommend to use Ubuntu 22.04 and ROS2 Humble. Foxy is not supported anymore, and you'll waste more time trying to solve problems that won't be fixed anyway.

@HAONANCAI 6 місяців тому

OK. Regarding the use of virtual machines or dual systems, do you have any suggestions?@@RoboticsBackEnd

@pete_handy Рік тому

is ackerman steering possible with nav2?

@russhall1097 Рік тому

Certainly!

@pete_handy Рік тому

@@russhall1097 oh okay then how to convert cmd_vel from nav2 to ackerman steering control?

@russhall1097 11 місяців тому

@@pete_handy I don't think you convert it, just use it! Your lower level code (Arduino or motor controller) will use it.

@russhall1097 11 місяців тому

You can use other computers, doesn't have to be Nvidia.

@curtisnewton895 8 місяців тому

aaaaaaaaaaand gazebo command not found

@a.k.aproxi5442 8 місяців тому

source ~/.bashrc or sudo apt update && upgrade or reinstall gazebo...(not a big error)

@eternalsk7652 4 місяці тому

Hello,I am using ROS2 humble for this navigation stack,but when I am loading the file 45:00,Map is not visible,i entirely followed your steps line by line ,but still I am getting no map received,Can someone please help me??

@drapiasuperioridade 9 днів тому

Great marketing 😅 I’ve just bought course right now.

@guruv1627 Рік тому

Hi its a great video but sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-turtlebot3* this command not working for me Ubuntu 22.04 Humble

@RoboticsBackEnd Рік тому

What error do you get?

@alperkarademir3963 10 місяців тому

@@RoboticsBackEnd yes

@dre9957 6 місяців тому

Thanks for this great piece. all was going smoothly until I got to this point @43:46 I cant view the map on rviz. I've reloaded the scene so many times, restarted my machine... This is what I found in the logs: ([component_container_isolated-1] [INFO] [1698256754.320984188] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exis) please somebody help.

@user-ux6jo7nj4t 6 місяців тому

same :D

@dre9957 6 місяців тому

Hello @@user-ux6jo7nj4t I could get around it by making these 2 changes 1) I made sure I was running cartographer node before launching the navigation node 2) I moved the map from Desktop/maps/my_map.yaml to ~/maps/my_map.yaml

@user-ux6jo7nj4t 6 місяців тому

hi ! thanks for your answer. Whats exactly cartographer mode ?

@dre9957 6 місяців тому

look here @18:20 the command in the terminal. It's the command to run cartographer node. Make sure it's running before you launch navigation2

@user-ux6jo7nj4t 6 місяців тому

oh my god i needed both of them to run at the same time ! thanks a lot, i finally got it to work. have a great day

@Baul454 Місяць тому

hi, thank you very much. But when I tried to install ros_humle_rmw_cyclonedds_cpp it's said me "Unable to locate package ros_humle_rmw_cyclonedds_cpp" maybe you can help me

@RoboticsBackEnd Місяць тому

You need to use dashes (ros-humble...) not underscores (ros_humble...)

@Baul454 Місяць тому

Merci beaucoup, d'ailleur, j'ai acheté des cours et je suis très heureux que vous ayez simplifié et clarifié les choses @@RoboticsBackEnd