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

Nav 2 in ROS 2 enables indoor mobile robots to navigate autonomously by combining it with SLAM, which creates maps of the environment while also locating the robot within those maps. This approach allows robots to navigate efficiently and effectively, even in complex indoor environments.
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#ros2 #robotics #gazebo #nav2 #autonomousrobot #SLAM

[@bharath5673__]

Really awesome... ❤️

[@robotisim]

Thanks a lot 😊

[@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

[@user-rg2dn1ns1h]

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

[@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

[@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

[@user-xo5rc8fq9c]

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

[@ajr123ish]

is it good for outdoor inviorment too?

[@robotisim]

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

[@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

[@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?

[@user-ty8ve8ni5d]

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

[@drapiasuperioridade]

@@user-ty8ve8ni5d No, I didn’t find.

[@robotisim]

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

[@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

[@user-xo5rc8fq9c]

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

[@robotisim]

sudo apt-get install git

[@zakiarasheed139]

Can we use ros2 packages in ros1 ?

[@robotisim]

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

[@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

[@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 :)

[@user-sl3hj5uc4x]

hello bro i want your whatsapp bro

[@robotisim]

But why bro