navyu

Original 2D Navigation Packages.
under development

Design

Quick Run

Docker

docker pull hazehk/navyu

xhost +
docker run -it --rm --net=host --env="DISPLAY=$DISPLAY" hazehk/navyu:latest

How to Build

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/RyuYamamoto/navyu
git clone https://github.com/CIT-Autonomous-Robot-Lab/emcl2_ros2 # if use emcl2 package
cd ../
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Launch

Launch Gazebo Simulator

ros2 launch navyu_simulator navyu_simulator_bringup.launch.py
ros2 launch navyu_navigation navyu_bringup.launch.py localization:=true

navigation.mp4

Launch Simple Simulator

ros2 launch navyu_simulator navyu_simple_simulator_bringup.launch.py use_rviz:=false
ros2 launch navyu_navigation navyu_bringup.launch.py localization:=false

Feature

• Path Tracking
• Velocity Planning
• Velocity Smoothing
• Model Predictive Control Path Tracking
• 2D/3D Localization
• Local Path Planning
• Collision Monitor
• Add Obstacle Layer to Costmap
• 3D Costmap