Example Simulation Navigation

To run the Example Simulation Navigation with scenario, first build the example_simulation package:

colcon build --packages-up-to example_simulation

Source the workspace:

source install/setup.bash

Now, run the following command to launch the scenario:

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

A turtlebot is initialised with nav2 which drives to a goal and back. During the ride an obstacle is spawned in front of the turtlebot which will then drive around the object.

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