A step-by-step tutorial for how to work with some of the most basic features of Nav2 using a Jupyter Notebook in a warehouse environment to create a basic application.

Overview

nav2_rosdevday_2021

This project has a step-by-step tutorial for how to work with some of the most basic features of Nav2 using a Jupyter Notebook in a warehouse environment to create a basic application. This is used by the 2021 ROS Developers Day talk by Steve Macenski.

This contains:

  • A Jupyter notebook with instructions for a Nav2 walkthrough of these features
  • Demo for running Nav2 in the AWS Warehouse World
  • Demo for running Nav2 on a non-TB3 industrial robot
  • Demo for Keepout Zones and Speed Restricted Zones
  • Demo code for working with Nav2 in python3 simple autonomy application

This demonstration is overall a reasonable baseline for how to work with Nav2 with a non-default setup (e.g. non-Turtlebot3 robot in a non-sandbox world) for first-time users.

Setup

To set this up on your own machine, please do the following:

# Create a workspace
mkdir -p colcon_ws/src
cd colcon_ws/src

# Get the demo code
git clone [email protected]:stevemacenski/nav2_rosdevday_2021.git

# Get the dependencies not shipped with Galactic at June 8, 2021.
vcs import . < nav2_rosdevday_2021/deps.repos
cd ../

# Install dependencies which are shipped with Galactic at June 8, 2021.
rosdep install --from-path src --ignore-src -r -y

# Build the workspace
source /opt/ros/galactic/setup.bash
colcon build

Running the demos

You can see step-by-steps in the main.ipynb file (which can be launched via jupyter-notebook main.ipynb). In general though after building the demos can be launched as (after setting the proper GAZEBO_MODEL_PATHs):

source colcon_ws/install/setup.bash
ros2 launch nav2_rosdevday_2021 system_launch.py # launches simulation, rviz, nav2

source colcon_ws/install/setup.bash
python3 colcon_ws/src/nav2_rosdevday_2021/nav2_rosdevday_2021/scripts/{pick a demo}.py # launches autonomy or API demo

With demos being:

  • picking_demo.py
  • security_demo.py
  • inspection_demo.py
  • nav_to_pose_demo.py
  • nav_through_poses_demo.py
  • waypoint_follower_demo.py

The first 3 are example demo applications using Nav2 tools. The final 3 are full examples of using the robot_navigator.py file for python3-based Nav2-as-a-library. Each are well commented and self explanatory.

Owner
Steve Macenski
I make robots move, Open Source Robotics Lead.
Steve Macenski
A fancy and practical functional tools

Funcy A collection of fancy functional tools focused on practicality. Inspired by clojure, underscore and my own abstractions. Keep reading to get an

Alexander Schepanovski 2.9k Dec 29, 2022
A test repository to build a python package and publish the package to Artifact Registry using GCB

A test repository to build a python package and publish the package to Artifact Registry using GCB. Then have the package be a dependency in a GCF function.

1 Feb 09, 2022
Python script to combine the statistical results of a TOPAS simulation that was split up into multiple batches.

topas-merge-simulations Python script to combine the statistical results of a TOPAS simulation that was split up into multiple batches At the top of t

Sebastian Schäfer 1 Aug 16, 2022
Scripts to integrate DFIR-IRIS, MISP and TimeSketch

Scripts to integrate DFIR-IRIS, MISP and TimeSketch

Koen Van Impe 20 Dec 16, 2022
A simple Python script for generating a variety of hashes from safe urandom entropy.

Hashgen A simple Python script for generating a variety of hashes from safe urandom entropy. For whenever you need a random hash (e.g. generating an a

Xanspie 1 Feb 17, 2022
A tool to determine optimal projects for Gridcoin crunchers. Maximize your magnitude!

FindTheMag FindTheMag helps optimize your BOINC client for Gridcoin mining. You can group BOINC projects into two groups: "preferred" projects and "mi

7 Oct 04, 2022
Emulate and Dissect MSF and *other* attacks

Need help in analyzing Windows shellcode or attack coming from Metasploit Framework or Cobalt Strike (or may be also other malicious or obfuscated code)? Do you need to automate tasks with simple scr

123 Dec 16, 2022
E5 自动续期

请选择跳转 新版本系统 (2021-2-9采用): 以后更新都在AutoApi,采用v0.0版本号覆盖式更新 AutoApi : 最新版 保留1到2个稳定的简易版,防止萌新大范围报错 AutoApi'X' : 稳定版1 ( 即本版AutpApiP ) AutoApiP ( 即v5.0,稳定版 ) —

95 Feb 15, 2021
Python 101 Forever

🚀 Python 101 Forever 🚀 Official Python 101 Forever GitHub repository. START HERE - CHECK README SUBSCRIBE FOR UPDATES HERE Sponsors Contac

Hack Bulgaria 58 Nov 30, 2022
RISE allows you to instantly turn your Jupyter Notebooks into a slideshow

RISE RISE allows you to instantly turn your Jupyter Notebooks into a slideshow. No out-of-band conversion is needed, switch from jupyter notebook to a

Damian Avila 3.4k Jan 04, 2023
Retrying is an Apache 2.0 licensed general-purpose retrying library, written in Python, to simplify the task of adding retry behavior to just about anything.

Retrying Retrying is an Apache 2.0 licensed general-purpose retrying library, written in Python, to simplify the task of adding retry behavior to just

Ray Holder 1.9k Dec 29, 2022
Node editor view image node

A Blender addon to quickly view images from image nodes in Blender's image viewer.

5 Nov 27, 2022
Blender addon - Breakdown in object mode

Breakdowner Breakdown in object mode Download latest Demo Youtube Description Same breakdown shortcut as in armature mode in object mode Currently onl

Samuel Bernou 4 Mar 30, 2022
A tool converting rpk (记乎) to apkg (Anki Package)

RpkConverter This tool is used to convert rpk file to Anki apkg. 如果遇到任何问题,请发起issue,并描述情况。如果转换rpk出现问题,请将文件发到邮箱 ssqyang [AT] outlook.com,我会debug并修复问题。 下

9 Nov 01, 2021
Python Programming Bootcamp

python-bootcamp Python Programming Bootcamp Begin: 27th August 2021 End: 8th September 2021 Registration deadline: 22nd August 2021 Fees: No course or

Rohitash Chandra 11 Oct 19, 2022
Simple macOS StatusBar app to remind you to unplug your laptop when sufficiently charged

ChargeMon Simple macOS StatusBar app to monitor battery charge status and remind you to unplug your Mac when the battery is sufficiently charged Overv

Rhet Turnbull 5 Jan 25, 2022
Polypheny Connector for Python

Polypheny Connector for Python This enables Python programs to access Polypheny databases, using an API that is compliant with the Python Database API

Polypheny 3 Jan 03, 2022
A simple countdown timer in eazy code to show timer with python

Countdown_Timer The simple CLI countdown timer in eazy code to show timer How Work First you fill the input by int-- (Enter the time in Seconds:) for

Yasin Rezvani 3 Nov 15, 2022
Build a grocery store management application.

python_projects_grocery_webapp In this python project, we will build a grocery store management application. It will be 3 tier application, Front end:

codebasics 54 Dec 29, 2022
You will need to install a few python packages for this one.

Features Bait support Auto repair will repair every 10 catches Anti detection (still a work in progress) but using random times and click positions Pr

12 Sep 21, 2022