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

[@RoboticsBackEnd]

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

[@williambaltus3754]

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.

[@salimzam7784]

شكرًا

[@mrMamaboy17]

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

[@cyclicalobsessive]

Very well done "crash course" video. Steps well explained with readable console commands in a logical progression. I was able to run every step successfully in VMware Fusion on my 2018 MacMini (even though Gazebo was only reporting 14-30 fps and rviz2 at 8-25 fps). I forgot my GoPiGo3 ROS 2 Humble robot was sitting idle listening for /cmd_vel topics on the default domain ID, so when I fired up the turtlebot3 teleop_keyboard and pressed "w", the Gazebo turtlebot3 started moving as expected, but also unexpectedly, I heard my GoPi5Go-Dave robot inching along the floor behind me! I added "export ROS_DOMAIN_ID=1" in my .bashrc so that all the turtlebot3 elements (Gazebo, Teleop, Nav2/rviz2) were isolated from my physical robot. I'm going to jump for the 6 hour course to configure a sim environment for the GoPiGo3 robot and get robot GoPi5Go-Dave navigating to the kitchen and back to his dock safely.

[@romainrouiller4889]

Very smooth and clear course, like always. thanks!

[@mohammedsajjad4975]

Amazing course .Thank a lot .Great work✌

[@teetanrobotics5363]

Amazing course. Please make more such marathons

[@dheerajbhurewar5035]

Great course. Thanks a lot!

[@mohammedsajjad8863]

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

Thanks you for this course

[@Elneely-r6u]

really you did a great job thank you💖

[@vasudevkesharwani8360]

amezing work ♥

[@yanniscoderey4355]

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]

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)

[@mikewazowski9941]

I had this exact problem and you saved me lots of time debugging

[@MrEngineer_]

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.

[@Andrew-zv4uh]

I have the same problem

[@shyamalbhavsar2275]

Same

[@ChristophSchwanke-p7d]

I was very much stuck with the same error with ROS2 iron on Ubuntu 22.04. What is very confusing: There is Gazebo classic (called "gazebo" in apt with executables "gazebo" and gzserver and gzclient) and Gazebo (called "gz" or "ign" in apt with executable ign). The "ignition" name was later removed, but for Ubuntu 22.04 and Gazebo Fortress it is still there. Anyway - in the video it seems to be Gazebo Classic - probably version 11. Somewhere I found that multicast must be enabled for ROS2 and Gazebo to work and that was not the case by default. Look for "Installation troubleshooting" in the ROS2 docu and section "Enable multicast". Now I can finally start Gazebo 11 and Gazebo Fortress.

[@muhammadyousufeisa3982]

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

[@chugoh]

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

[@mahamaneirochapiou4388]

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

[@mr.p215]

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

[@RoboticsBackEnd]

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).

[@NguyenNguyen-bi2lx]

Amazing course. But I want to make a question. When i move the robot to generate map, i see other model appear, so Rviz is error and terminal of Rviz display more info

[@Shiva671]

What is P5 in my_map.pgm??

[@정재욱-s6t]

cool!

[@읽기쉬운마음]

Can I use GPS coordinates as waypoint too?

[@HammerArm99]

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

[@Inco-q2e]

I’m stuck with that as well

[@PiyasKheyal]

I will be starting this lecture tomorrow. Does the problem still exist?

[@Sam-xj8os]

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

[@DESIGANBR]

Really good

[@dre9957]

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]

same :D

[@dre9957]

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]

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

[@dre9957]

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]

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

[@Sing-ic7vt]

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

[@thomasluk4319]

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?

[@sumitthantharate7806]

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]

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

[@timandersen8030]

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

[@seremetvlad]

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

[@timandersen8030]

@@seremetvlad Ok, thank you!

[@dinizoliveira6995]

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]

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.

[@hiepvu7455]

hello teacher, i have a problem, when ever i open gazebo my CPU always runs at full capity and it cause some lagging problems, do you know any way that could solve it. Thanks

[@MOUNIKAADAVALA]

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

[@abrahamyalley9973]

did you get an answer and what resources did you use please

[@huseynhaydarov]

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

[@khalilrabia-iw6sw]

did anyone take notes, i toke some and forgot to save, i need them please

[@林宏宗-j4q]

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]

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)

[@pete_handy]

is ackerman steering possible with nav2?

[@russhall1097]

Certainly!

[@pete_handy]

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

[@russhall1097]

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

[@russhall1097]

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

[@RICO-sr2fn]

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]

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]

@@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]

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

[@saurabhsachan5846]

Hello!! How to install Gazebo for ROS2 Humble on Raspberry Pi 4? I am following this video and it shows the "gazebo command not found"

[@RoboticsBackEnd]

Gazebo probably won't work on a Raspberry Pi board (not the same architecture as a "normal" computer, and much less power). Better to use Gazebo on another computer

[@saurabhsachan5846]

@@RoboticsBackEnd Okay, Thanks!! Can I use Jetson Nano?

[@RoboticsBackEnd]

Jetson Nano also has ARM architecture (like Raspberry Pi), so, not sure it will work (although it's much more powerful). I haven't tested so I can't tell for sure

[@saurabhsachan5846]

@@RoboticsBackEnd Okay, Thanks!!

[@curtisnewton895]

aaaaaaaaaaand gazebo command not found

[@Sid-proxi]

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

[@HAONan-x4q]

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

[@RoboticsBackEnd]

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.

[@HAONan-x4q]

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

[@mahamaneirochapiou4388]

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

[@RoboticsBackEnd]

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.

[@chiadika]

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]

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]

@@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]

@@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

[@eternalsk7652]

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??

[@trongdungmai8125]

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]

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

[@guruv1627]

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]

What error do you get?

[@alperkarademir3963]

@@RoboticsBackEnd yes

[@drapiasuperioridade]

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

[@Baul454]

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]

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

[@Baul454]

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

[@amarnath-bo9ld]

Hi eduoard While i was doing sudo gedit waffle.yam Waffle. Yam file appeared but it is crashed with symbols everywhere Can anyone please tell why this is happening