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Setting up Nav2 on real robot

asked 2022-11-21 10:32:20 -0500

coatwolf
13 ●3 ●5 ●8

Hi community,

I'm working on building my own SLAM robot as an educational project, and I've been following along the excellent guide on setting up Nav2. I'm a bit stuck, and here's why:

My robot is running a Raspberry Pi 4 (Ubuntu 22.04) headlessly, but the Nav2 setup guide assumes (or maybe requires? I'm not sure) the use of Gazebo. I made it from the beginning all the way through the URDF set up section, but starting from the Setting Up Odometry it gets a bit Gazebo-heavy.

I'd appreciate some help with regards to either:

Knowing which parts of the tutorial(s) to ignore (since I'm not using sim) without skipping critical steps in getting my real robot moving
Using a different guide (if there exists one) that is less sim-oriented and more geared toward setting up a physical robot with Nav2

Thanks in advance and huge kudos to everyone making Nav2 happen!!

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2 Answers

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answered 2023-04-16 01:58:50 -0500

coatwolf
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I have found this course on YouTube by Articulated Robotics to be extremely helpful in getting things running on a physical robot, not only nav2 but also slam_toolbox and more. Huge props to the creator.

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answered 2022-11-22 07:25:08 -0500

RobotDreams
327 ●16 ●40 ●34

updated 2022-11-22 07:26:57 -0500

The Turtlebot4 code base is open source and includes launch and yaml config files that you might be able to repurpose on your bot.

https://github.com/turtlebot/turtlebo...

The manual is at https://turtlebot.github.io/turtlebot...

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Comments

GREAT suggestion, don't know why I didn't think of Turtlebot. Thank you.

coatwolf ( 2022-11-22 08:48:52 -0500 )edit

Actually I took a a look at the code and i don't understand what the turttlebot4_navigator, does ? do I need this ?

Zermelo ( 2022-11-23 14:31:27 -0500 )edit

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Asked: 2022-11-21 10:32:20 -0500

Seen: 696 times

Last updated: Apr 16 '23

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