ltu-ros / nav_sim

Simple odometry and costmap simulator for testing local and global planners

Simple Odometry and Costmap Simulator (Nav Sim)

Simple odometry and costmap simulator for testing local and global planners

Setup

Clone this package into your workspace

Install dependencies:

rosdep install -y --from-paths . --ignore-src --rosdistro "$ROS_DISTRO"

Usage

• Publish a 2D nav goal using Rviz's "2D Nav Goal" tool and clicking somewhere on the map
• Set the location & orientation of the robot using Rviz's "2D Nav Goal" tool. The robot will warp to wherever you click
• Drive the robot manually using rqt's "Robot Steering" tool under Plugins > Robot Tools

Defult Topics

• By default, everything is launched under the "robot" namespace
• Odometry: /robot/odom
• Map: /map
• Steering: /robot/cmd_vel
• Nav goal: /robot/move_base_simple/goal
• Set pose of robot: /robot/set_pose

Dynamic reconfigure

Launch dynamic reconfigure (rqt > Plugins > Configuration) to view the planner's dynamic parameters

Launching

To run the simulator with ROS's default local planner:

roslaunch nav_sim test.launch planner:=base

To run the simulator with TEB local planner:

roslaunch nav_sim test.launch planner:=teb