Nav 2 in ROS 2 for autonomous Navigation using SLAM for Indoor Mobile Robots

[@osamaali4113]

Thank you brother for making such a detailed video. you have explained it very well.

[@robotisim]

You are most welcome

[@osamaali4113]

@@robotisim Brother you said at the end of this video that I will make a video that can move the robot programmatically instead of rviz goal pose. Have you already made one? I could not find a related video in this playlist?

[@brayandurantoconas5906]

Un saludo desde bolivia. Gracias por los vídeos ya tengo una meta fija en la vida

[@robotisim]

great

[@saurabhsachan5846]

Hello!! Many thanks for providing such a helpful tutorial series. Can you make a tutorial or series on "Nav 2 in ROS 2 for autonomous Navigation for a custom robot"? In the case of custom robots, we face many issues (as Turtlebot is an inbuilt robot for ROS). By the way, I am working on autonomous navigation using deep reinforcement learning of a three omni-wheeled mobile robot in ROS2. (If you have any related sources or links, kindly share them with me.) Thanks!!

[@robotisim]

Thanks for the idea!

[@Sam-iy1kv]

thanks for the sharing yours experience ! Small question, when the global map was not obtained, how the trajectory planner generate a collision free trajectory ? such as in an unknown environment.

[@robotisim]

It can through local map -> using online sensors

[@Inco-q2e]

Great video. Is it possible to add camera data on top of scan data for navigation part to improve navigation accuracy

[@robotisim]

yes - but not with nav2 package You will need to write your own logic

[@bharath5673__]

Really awesome... ❤️

[@robotisim]

Thanks a lot 😊

[@darshansolanki4318]

I have a question , I want to apply A* algorithm to my robot to navigate autonomously and avoid obstacles , so where should I apply algorithms and test different algorithms which is perfect for me ?

[@robotisim]

publish occupancy grid , subscribe it , apply astar to it , publish searched path and visualize it on rviz

[@darshansolanki4318]

@@robotisim As I am new to it and am learning, can you please tell me detail how to do this It will be very helpful

[@muhammadyousufeisa3982]

Assalam o Alaikum sir. Can you tell which slam algorithm do you have used and did you include the noise. I have a project in which I have to do navigation with a slam algorithm including the noise. suggest me a source for this. Jazakallah

[@robotisim]

Walaikumsalam I do not understand which noise are you asking for ? - Sensor noise ? - Mapping Algo noise ? - Localization Noise ?

[@muhammadyousufeisa3982]

@@robotisim localization noise

[@muhammadyousufeisa3982]

Ok I think I got amcl dealing with the localization uncertainty as it uses particle filter

[@robotisim]

@@muhammadyousufeisa3982 thanks for sharing as well .

[@muhammadyousufeisa3982]

Can you tell how to cater the sensor noise and how to see in the log data that the sensor noise is filtering during the robot movement in rviz

[@damiaK0017]

hi , I am working on multi turtlebot3 robot and everything works fine, gazebo, and rviz2 everything is fine. But I want a slam thing like in rviz2 full map should not appear only the portion where robot is standing should appear. I am trying to work on cartographer (like adding a node) but its not working. any advice you can give and provide I shall be very grateful

[@robotisim]

check frames , topics

[@drapiasuperioridade]

Hi, Muhammad Luqman! To which directory can I clone the file turtlebot3-simulation? To source as a pkg inside the src or as a new Workspace? I tried the first one(as pkg in the src where is the dir ros2_learners), but "colcon build" is not working due to duplicate pkg names (turtlebot3_gazebo). Can you help me?

[@vikasp-j1x]

Hi bro , got the same issue , did you find the solution for it ? if yes pls do tell me

[@drapiasuperioridade]

@@vikasp-j1x No, I didn’t find.

[@robotisim]

delete 1 turtlebot3 package and then build also remove buil log install directories

[@ajr123ish]

is it good for outdoor inviorment too?

[@robotisim]

2D LIDAR is only for indoor environments with walls or objects at its height .

[@tathoipo4132]

Good afternoon My name is Tat Hoi, I'm currently working on a robotic project, which is using a Autonomous wheelchair for navigation. However I have issue doing the slam navigation after setting up all the lidars and hardware. Im not sure what is the next step for the slam navigation after installing the turtlebot 3 software. Would like your professional advice to guide me on this. Really much appreciate for your professional help. Look forward to hear from you soon.

[@robotisim]

For real robots check first odometery and setup with encoders or some sort of feed back then come to mapping and SLAM

[@Akash__Kushwaha_k]

Hi have you completed your autonomous wheelchair project? i am doing the same project are you intrested in sharing some information like code or hardware setup. if yes please provide me your social media handle or linkedln

[@mcdaddy42069]

are you able to change the SLAM implementation? Instead of AMCL can you use something else

[@robotisim]

yes you can write your own . The video was just for giving you the most basic workflow

[@MichaelTalley-m4l]

I have 2 questions: 1) Is this on a desktop implementation for a raspberry pi or ssh and 2) Is this installation still valid today? I am having trouble with gazebo on a raspberry pi with ROS2 humble installation. Thank you

[@robotisim]

It is on my desktop and it is valid for ubuntu 22.04 with ros2 humble For raspberry you need the same ubuntu and ros2 version

[@antmen4]

How would you do this with a custom robot, instead of a turtlebot? What different files need to be made?

[@antmen4]

Also, when you have time, could you give some information about the "odom" frame?

[@robotisim]

spawn your custom robot through urdf and make appropriate changes in planner yaml files

[@robotisim]

Saturday live meetup

[@zakiarasheed139]

Can we use ros2 packages in ros1 ?

[@robotisim]

Never did it, but i think we can do it using ros brigde

[@MichaelTalley-m4l]

How do you install this git clone? Is there a readme for that?

[@robotisim]

sudo apt-get install git

[@mohokhachai]

C#

[@robotisim]

C++

[@Koroleva_O_A]

Good day. What is your email address?

[@robotisim]

Contact me on LinkedIn or join discord in description to have a chat :)

[@Koroleva_O_A]

@@robotisim Is there no mail?

[@Koroleva_O_A]

@@robotisim There are two links in the information about my channel. I think it will be easier this way. Good luck..

[@robotisim]

@@Koroleva_O_A Don't want to share publicly sir :)

[@affilllitemarketinge]

hello bro i want your whatsapp bro

[@robotisim]

But why bro