Nav 2 in ROS 2 with Commander API for Python

For 2D navigation of our robot we can send goals using a python scripts with Commander API. It becomes really easy in usage for complete autonomy of our robots.
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#ros2 #robotics #gazebo #nav2 #autonomousrobot #SLAM

[@ziadammar3095]

That is the exact tutorial I was searching for! Thanks!

[@robotisim]

Glad I could help!

[@user-eu1bl8cn9g]

awesome!!!! Thank you sincerely bro..

[@user-eu1bl8cn9g]

Is there any plan to use other planner like teb ?

[@robotisim]

You're most welcome

[@robotisim]

Not yet . But will put it in queue

[@bharath5673__]

❤️♦️

[@robotisim]

:)

[@adilfarooq1430]

Great work, do you plan to use an aerial robot like the hector or any other model to do autonomous navigation to a goal in ros2? That would be great!

[@robotisim]

Yes . it is on the list . Hector is not ported to ROS2 . Current solution is ignition but still no easy drone go to go solution.

[@mohammadasim4464]

Great video. I was wondering why did you need to use the waypoints to find the robot location in the map? Because I can see that you are using AMCL localization which provides the transforms from /map to /odom after the particles are localized? Am I missing something. Thanks you.

[@robotisim]

Good question . In a project i experienced this
- Created a map with let say robot initial position (1,2,0) -> xyz
- Started NAV2 but robot this time is some where else not (1,2,0) ( in almost all real world scenarios this happen ).
- Odom gives (0,0) but for navigation stack on tha map you are at some other location .

[@antonioadurno9842]

Thanks for the video Muhammad! I was wondering if there is any reason to use the SimpleCommander API only via script. Would it make sense to write a ROS2 node that inherits the methods of the BasicNavigator class in order to design experiments that are repeatable or is it better to write a script? Thank you again

[@robotisim]

yes you are on point , Inhereting the navigation class will give you functionality directly into your main node . you have API for Python and CPP both
- I used explicit python node for simple cmmander api to keep things simple and easy to understand. in this video .

[@VK-qh6pr]

Thanks for that ! You might want to rename it for future use.

[@robotisim]

Sure :D

[@MarcusVinicius-lq3fe]

Hi do you know how to integrate real Velodyne data (VLP-16) /scan data with NAV2? Iam able to visualize my real Velodyne data on Rviz. However when I switch the real Gazebo plugin laser Sensor for the real VLP and launch Nav2 nodes, Rviz and Gazebo crashes and close. Some tutorial how to map with real VLP? Thanks

[@robotisim]

not yet

[@user-no8zu1qw2h]

hello !
could u show me how to download simpleCommander api please , i got stuck with it

[@robotisim]

you have to install nav2 and simple commander api will be installed automatically

[@user-no8zu1qw2h]

@@robotisim actually, I use ros2 foxy and this version do not have commander API . If you don't mind could you give me a way which I can use commander API with foxy. Thank you in advance .