nav2_capabilities

Provides capabilities2 runners for Nav2 stack. These runners utilize the action and topic interfaces provided by the Nav2 stack to execute navigation tasks.

Supported runners

Runner	Focus	Description
waypoint runner	Navigation	utilizes follow_waypoint action from nav2 stack
robot pose runner	Navigation	extracts robots pose based on odom and tf2

For information about these runners' interfaces, please refer to Interface Information section.

Examples

Examples depend on CollaborativeRoboticsLab/capabilities2 and Navigation Stack. Following examples have been tested against turtlebot3 simulation using CollaborativeRoboticsLab/turtlebot3-docker

Example	Description
navigation_1.xml	In this example (0.5,2) point is reachable. And the robot moves to that point.
navigation_2.xml	In this example, (0.5,2) (1,2) (2,0.5) (-2,0) points are reachable. And the robot moves through those points.
navigation_3.xml	In this example, (0.5,2) (1,2) (-2,0) are reachable, (2,-3) point is not reachable. Because of this, the robot moves to the (0,0.5) as a recovery action.
navigation_4.xml	In this example, (0.5,2) (1,2) (2,1) are reachable, (2,-3), (0, -3) points are not reachable.Because of this, the robot moves to the (0,0.5) as a recovery action. (1,2) (2,1) points also have recovery actions linked, but they are not triggered as the point is accessible.

Note: The examples are designed to work and has been tested with the turtlebot3 world in Gazebo, but on the assumption that the start position of the robot is (0.0, 0.5) in gazebo simulation. In ROS humble this is the default, but in jazzy you might need to change the initial position of the robot in the world file to match this. If you use CollaborativeRoboticsLab/turtlebot3-docker, it is already set to this position.

Setup

Above examples depend on the capabilities2 and prompt_tools packages. You can clone these packages in your workspace and build them using colcon build.

cd ~/colcon_ws/src
git clone https://github.com/CollaborativeRoboticsLab/capabilities2.git
git clone https://github.com/CollaborativeRoboticsLab/fabric.git
git clone https://github.com/CollaborativeRoboticsLab/nav2_capabilities.git

cd ~/colcon_ws
colcon build --symlink-install

To setup the simulation, you can use the turtlebot3 world in Gazebo. You can launch the simulation using the following command,

git clone https://github.com/CollaborativeRoboticsLab/turtlebot3-docker.git
cd turtlebot3-docker/docker
docker compose pull
xhost +local:root
docker compose up

Running the examples

To run the examples, first make sure that the simulation is running and then on seperate terminals run,

source install/setup.bash
ros2 launch capabilities2_server capabilities2_server.launch.py

source install/setup.bash
ros2 launch nav2_capabilities system.launch.py filename:=navigation_1.xml

Change filename:=navigation_1.xml to match the correct plan