NAV2 - Gazebo does not load model

asked 2023-02-08 01:04:06 -0500

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Hi there,

I am running this tutorial https://navigation.ros.org/getting_st... I am using ROS2 Foxy in Ubuntu 20.04 and Gazebo 9

I have exported the models as the tutorial explains:

 source /opt/ros/<ros2-distro>/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models

However, Gazebo is not loading:

image description

I should have this behavior at the end when setting a 2D goal pose to the robot:

https://navigation.ros.org/_images/na...

But I am not having success in localizing the robot...

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answered 2023-02-08 02:47:36 -0500

stevemacenski

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It looks like you didn't fill in the ROS2 Distribution :-)

../<ros2-distro>/...

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Hi Steve,

I fulfilled the export statement with "ros2-foxy" instead of "foxy". In addition, I have installed additional pkg:

sudo apt-get install ros-foxy-turtlebot3-gazebo* sudo apt-get install ros-foxy-robot-state-publisher*

Then it worked. Steve, I checked your podcast with Ricardo and the NAV2 documentation. I decided to use NAV2 for our research, which uses an autonomous truck for off-road monitoring applications. We were using Autoware.Universe, but we checked that it is "too much" for our simple scenario and decision-making needs. I checked that NAV2 works for Ackermann types, but even for a big truck?

I am also "afraid" about the localization pkg: The NDT-MCL localizer you mentioned on the podcast. We do have velodynes, but we're off-road, so we don't have a previous map with landmarks to match. Is this something impeditive to using NAV2 off-road?

What is your consideration in this regard? Do you have some success of-road cases ...(more)

Vini71 ( 2023-02-09 13:18:27 -0500 )edit

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answered 2023-02-08 13:06:08 -0500

Davies Ogunsina

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updated 2023-02-08 13:07:16 -0500

Can you upload a screenshot of the error which is outputting in rviz2.I believe you also have to set the pose estimate of your robot with the tag.Did you launch the localization node as well?. Kindly upload a clearer screenshot of the error displayed on rviz2.

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Thanks I solved the issue

Vini71 ( 2023-02-09 13:10:04 -0500 )edit

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