Nav2 Setup

Nav2 (Navigation 2) is the ROS 2 navigation stack. It provides path planning, recovery behaviours, and costmap management.

Installation

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

Launch Nav2

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

Key Parameters (nav2_params.yaml)

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom

controller_server:
  ros__parameters:
    controller_plugins: ["FollowPath"]
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.5
      lookahead_dist: 0.6

Sending a Goal

from nav2_simple_commander.robot_navigator import BasicNavigator
from geometry_msgs.msg import PoseStamped

nav = BasicNavigator()
goal = PoseStamped()
goal.header.frame_id = 'map'
goal.pose.position.x = 2.0
goal.pose.position.y = 1.5
nav.goToPose(goal)

WARNING

Always initialise the robot's pose with 2D Pose Estimate in RViz before sending navigation goals.