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
OCR-ID-Card VietNamese (new id-card)

OCR-ID-Card VietNamese (new id-card) run project: download 2 file weights and pu

12 Jun 15, 2022
LINUX-AOS (Automatic Optimization System)

LINUX-AOS (Automatic Optimization System)

1 Jul 12, 2022
Never get kicked for inactivity ever again!

FFXIV AFK Bot Tired of getting kicked from games due to inactivity? This Bot will make random movements in random intervals to prevent you from gettin

5 Jan 12, 2022
py2dis - A disassembly engine & library for Python

py2dis - A disassembly engine & library for Python. py2dis is a disassembly library for Python that does not use any modules/libraries other than colo

3 Feb 04, 2022
This library is an abstraction for Splunk-related development, maintenance, or migration operations

This library is an abstraction for Splunk-related development, maintenance, or migration operations. It provides a single CLI or SDK to conveniently perform various operations such as managing a loca

NEXTPART 6 Dec 21, 2022
A python script developed to process Windows memory images based on triage type.

Overview A python script developed to process Windows memory images based on triage type. Requirements Python3 Bulk Extractor Volatility2 with Communi

CrowdStrike 245 Nov 24, 2022
EFB Docker image with efb-telegram-master and efb-wechat-slave

efb-wechat-docker EFB Docker image with efb-telegram-master and efb-wechat-slave Features Container run by non-root user. Support add environment vari

Haukeng 1 Nov 10, 2022
Tutor plugin for integration of Open edX with a Richie course catalog

Richie plugin for Tutor This is a plugin to integrate Richie, the learning portal CMS, with Open edX. The integration takes the form of a Tutor plugin

Overhang.IO 2 Sep 08, 2022
Audio-analytics for music-producers! Automate tedious tasks such as musical scale detection, BPM rate classification and audio file conversion.

Click here to be re-directed to the Beat Inspect Streamlit Web-App You are a music producer? Let's get in touch via LinkedIn Fundamental Analytics for

Stefan Rummer 11 Dec 27, 2022
Python library for ODE integration via Taylor's method and LLVM

heyoka.py Modern Taylor's method via just-in-time compilation Explore the docs » Report bug · Request feature · Discuss The heyókȟa [...] is a kind of

Francesco Biscani 45 Dec 21, 2022
Create or join a private chatroom without any third-party middlemen in less than 30 seconds, available through an AES encrypted password protected link.

PY-CHAT Create or join a private chatroom without any third-party middlemen in less than 30 seconds, available through an AES encrypted password prote

1 Nov 24, 2021
Basic Hspice runner with Python

HSpicePy Bilgisayarınıza PATH değişkenlerine eklediğiniz HSPICE programını python ile çalıştırmanızı sağlayan basit bir araç. A simple tool that allow

1 Nov 16, 2021
Advanced IPv4 Subnet Calculator in Python3

Advanced IPv4 Subnet Calculator in Python3 Table of Contents Getting Started Installation How it works? SVI Configuration Template Previews Getting St

Osama Abbas 1 May 10, 2022
Easytile blender - Simple Blender 2.83 addon for tiling meshes easily

easytile_blender Dead simple, barebones Blender (2.83) addon for placing meshes as tiles. Installation In Blender, go to Edit Preferences Add-ons

Sam Gibson 6 Jul 19, 2022
UdemyPy is a bot that hourly looks for Udemy free courses and post them in my Telegram Channel: Free Courses.

UdemyPy UdemyPy is a bot that hourly looks for Udemy free courses and post them in my Telegram Channel: Free Courses. How does it work? For publishing

88 Dec 25, 2022
An After Effects render queue for ShotGrid Toolkit.

AEQueue An After Effects render queue for ShotGrid Toolkit. Features Render multiple comps to locations defined by templates in your Toolkit config. C

Brand New School 5 Nov 20, 2022
Bu repoda python ile CAN-Bus çalışmalarını nasıl gerçekleyeceğiniz anlatılmaktadır.

CAN-Bus-with-Python "CAN Bus 1980'li yıllarda Robert BOSCH tarafından geliştirilmiş bir iletişim protokoldür. Hızlı ve hata oranının çok düşük olması

Yunus Emre Coşkun 16 Aug 29, 2022
Sacred is a tool to help you configure, organize, log and reproduce experiments developed at IDSIA.

Sacred Every experiment is sacred Every experiment is great If an experiment is wasted God gets quite irate Sacred is a tool to help you configure, or

IDSIA 4k Jan 02, 2023
Age of Empires II recorded game parsing and summarization in Python 3.

mgz Age of Empires II recorded game parsing and summarization in Python 3. Supported Versions Age of Kings (.mgl) The Conquerors (.mgx) Userpatch 1.4

148 Dec 11, 2022
DNA Storage Simulator that analyzes and simulates DNA storage

DNA Storage Simulator This monorepository contains code for a research project by Mayank Keoliya and supervised by Djordje Jevdjic, that analyzes and

Mayank Keoliya 3 Sep 25, 2022