Example Navigation

To run the example multi robot scenario, build the tb4_sim_scenario package:

colcon build --packages-up-to tb4_sim_scenario

Source the workspace:

source install/setup.bash

The Following example spawns 2 robots. The first robot is initialised with nav2 and moves in a straight line. Once it reaches a specific point a velocity command is sent to the second robot which will position itsel in front of the first one. The first robot then replans its path and moves around the second robot.

To actually run the scenario, run the following command.

ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:=examples/example_multi_robot/example_multi_robot.osc

For a more detailed understanding of the code structure and scenario implementation please refer to the tutorial documentation.