PMB-2 Navigation tutorial ROS2

Purpose

This tutorial shows how to make PMB-2 navigate autonomously provided a map build up of laser scans and taking into account the laser and the RGBD camera in order to avoid obstacles.

Pre-Requisites

First make sure that the tutorials are properly installed along with the PMB-2 simulation, as shown in the tutorials installation section. Then follow the instructions in the PMB2_mapping tutorial in order to create and save a map.

Execution

First of all open two consoles and source ros setup

source /opt/ros/foxy/setup.bash

In the first console launch the following simulation

ros2 launch pmb2_2dnav_gazebo pmb2_navigation_gazebo.launch.py

This will launch a gazebo window and a rviz window with a map. Select on the rviz window the 2D Pose Estimate mode and set the approximate robot position on the map.

In the second console launch the keyboard teleoperation node

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=key_vel

Now you can navigate the robot to correct the position error.

To send a navigation goal you can use the rviz Navigation2 Goal mode and select the desired goal.

After selecting the goal you can see the global path planned and the local path.